Robot operation device and action program

Abstract

This robot operation device comprises: a display unit; a screen image control unit that displays a UI screen image on the display unit and controls the UI screen image; and a command control unit that generates a command on the basis of an operation performed on the UI screen image and transmits the command to a robot. The UI screen image includes a graphic of the robot and cargo, and an operation screen image for receiving an operation performed by a user. The operation screen image includes three screen images that are alternatively displayed, and three tabs. The three screen images are composed of a first setting screen image for setting a setting relating to a device used in palletizing work, a second setting screen image for setting a setting relating to cargo, and an execution screen image for issuing an instruction relating to execution of palletizing work. The screen image control unit switches the three screen images in accordance with the operation of the tabs, and changes the graphic in accordance with the setting performed on the first and second setting screen images or in accordance with the progress of palletizing work.

Description

Robot operation device and operation program

[0001] The present disclosure relates to a robot operation device and an operation program.

[0002] In order to have a robot perform the palletizing task of stacking cargo onto a pallet, parameters for the robot, pallet, conveyor, cargo, etc. are set using a personal computer (see, for example, Patent Documents 1 and 2).

[0003] JP2021-151696A JP11-079407A

[0004] In order to have a robot perform palletizing work, it is necessary to set all parameters and then execute a control program generated based on the parameters. To simplify these operations, it is desirable to be able to complete all operations from setting to execution using a single device.

[0005] One aspect of the present disclosure is a robot operation device connected to a robot that performs palletizing work to stack loads on pallets, the robot operation device comprising: a display unit; a screen control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates commands for the robot based on operations on the user interface screen and transmits the commands to the robot, wherein the user interface screen includes graphics of the robot and the load and an operation screen that accepts user operations, and the operation screen includes three screens that are alternatively displayed and three tabs corresponding to the three screens, the three screens consisting of a first setting screen for setting equipment to be used in the palletizing work, a second setting screen for setting the load, and an execution screen for giving instructions regarding the execution of the palletizing work, and the screen control unit switches the three screens displayed on the display unit in response to operations on the tabs, and changes the graphics in response to settings made on the first setting screen and the second setting screen or in response to progress of the palletizing work.

[0006] FIG. 1 is a plan view showing an overall configuration of a system according to an embodiment of the present disclosure. FIG. 2 is a block diagram of a robot operation device and a robot in the system of FIG. 1. FIG. 3 is a diagram showing an example of a menu displayed on a display unit. FIG. 4 is a diagram showing an example of a UI screen and a system setting screen. FIG. 5 is a diagram showing an example of a system setting screen. FIG. 6 is a diagram showing an example of a load setting screen. FIG. 7 is a diagram showing an example of a load setting screen. FIG. 8 is a diagram showing an example of a load setting screen. FIG. 9 is a diagram showing an example of an execution screen. FIG. 10 is a diagram showing an example of an editing screen for a control program. FIG. 11 is a flowchart of an operation method of a robot operation device.

[0007] A robot manipulation device and an operation program according to an embodiment of the present disclosure will be described below with reference to the drawings. FIG. 1 shows a system 100 including a robot manipulation device 10 according to this embodiment. The system 100 is a palletizing system that stacks box-shaped loads W supplied by a conveyor 30 on pallets 40. The system 100 includes a robot 20 and a robot manipulation device 10 connected to the robot 20. The system 100 also includes the conveyor 30 and the pallets 40 that are arranged around the robot 20.

[0008] The robot 20 includes a mechanical unit 21, a gripper 22 that grips a load W, and a control device 23. The mechanical unit 21 is an industrial robot commonly used for palletizing, such as a vertical articulated robot, a horizontal articulated robot, or a parallel link robot. The gripper 22 is connected to a wrist flange at the tip of the arm of the mechanical unit 21. The mechanical unit 21 may be a collaborative robot that works in a shared space with a user. The mechanical unit 21 may also be a humanoid robot. The control device 23 includes a processor, a memory, and a storage unit, and the storage unit pre-stores a control program for causing the mechanical unit 22 to perform a palletizing operation. The processor of the control device 23 controls the mechanical unit 21 and the gripper 22 in accordance with the control program.

[0009] The robot operation device 10 is a portable teaching operation panel connected wirelessly or by wire to the control device 23, and is made up of a tablet computer. The robot operation device 10 accepts various operations from a user, generates commands based on the operations, and transmits the commands to the control device 23. The control device 23 controls the mechanical unit 21 and the gripper 22 in accordance with the commands. Therefore, the user can operate the mechanical unit 21 and the gripper 22 by operating the robot operation device 10.

[0010] 2, the robot operation device 10 includes a processor 1, a display unit 2, an input unit 3, a memory 4, and a storage unit 5. The processor 1 is configured with a CPU (Central Processing Unit) or a quantum processor, etc. The display unit 2 is configured with a liquid crystal display device, an organic EL display device, etc.

[0011] The input unit 3 has a touch panel integrated with the display unit 2. A user can perform various operations on the screen displayed on the display unit 2 by touching the display unit 2 with a finger, a stylus pen, or the like. The input unit 3 may have input devices such as a keyboard and a mouse, and operations on the screen may be performed using the input devices.

[0012] The memory 4 is composed of a dynamic random access memory (DRAM) or the like, and temporarily stores data necessary for the processor 1 to execute processing. The storage unit 5 is composed of a hard disk, a solid state drive (SSD), a flash memory, etc. The storage unit 5 stores an operation program 5a for causing the processor 1 to execute an operation method described below, and data necessary for the operation method.

[0013] The processor 1 includes, as functional units, a screen control unit 11 and a command control unit 12. The screen control unit 11 displays a user interface (UI) screen A for setting and executing palletizing on the display unit 2, and controls the UI screen A based on operations on the UI screen A. The command control unit 12 generates commands for the robot 20 based on operations on the UI screen A and transmits the commands to the robot 20. The commands include setting data based on settings made on setting screens D1 and D2 (described below) and instructions related to the execution of a control program. The setting data is used by the control device 23 to generate a target position for the mechanism unit 21 in the control program.

[0014] As shown in FIG. 3, the screen control unit 11 may display on the display unit 2 a menu icon (e.g., a hamburger menu) that allows a user to select from a plurality of menus, and may display the UI screen A on the display unit 2 when a predetermined menu (e.g., a palletizing menu) is selected.

[0015] As shown in FIG. 4 , UI screen A includes graphic B of the robot 20, the load W, etc., and operation screen C that accepts user operations. Graphic B and operation screen C are displayed simultaneously, with graphic B located at the top of UI screen A and operation screen C located at the bottom of UI screen A. The arrangement of graphic B and operation screen C can be changed as needed. Graphic B includes three-dimensional models of the mechanism unit 21, gripper 22, conveyor 30, pallet 40, and load W arranged in a three-dimensional virtual space. As will be described later, the three-dimensional model in graphic B changes over time depending on the settings made in operation screen C or the progress of the palletizing work. Therefore, graphic B is a four-dimensional graphic.

[0016] The operation screen C includes three screens D1, D2, and D3 (see FIGS. 4, 6A, and 7A) and three tabs E1, E2, and E3 corresponding to the three screens D1, D2, and D3, respectively. All three tabs E1, E2, and E3 are always displayed, and the three screens D1, D2, and D3 are alternatively displayed. In FIG. 4, the screen D1 is displayed, and the screens D2 and D3 are hidden. The screen control unit 11 switches the screens D1, D2, and D3 displayed on the display unit 2 in response to the operation of the tabs E1, E2, and E3. For example, the screen control unit 11 displays the screen D1 corresponding to the tapped tab E1.

[0017] The three screens consist of a system setting screen (first setting screen) D1, a load setting screen (second setting screen) D2, and an execution screen D3. The screens D1, D2, and D3 are categorized according to frequency of use. The user can perform all operations, from setting up the system 100 and the load W to daily operation of the robot 20 at the palletizing work site, using the three screens D1, D2, and D3. Note that FIG. 4 illustrates an operation screen C including three screens D1, D2, and D3 and three tabs E1, E2, and E3 corresponding to the three screens D1, D2, and D3, respectively. However, the number of screens and corresponding tabs is not limited to three. For example, one tab may be provided for a single screen that combines the system setting screen and the load setting screen. Furthermore, the settings for the gripper, pallet, conveyor, path, etc. on the system setting screen D1 and the editing screen for the control program on the execution screen D3 may be separated into separate screens and tabs.

[0018] The system setting screen D1 is a screen for setting the equipment constituting the system 100 and used in the palletizing operation (see FIGS. 5A and 5B). The equipment includes, for example, the gripper 22, the conveyor 30, and the pallet 40, and may further include peripheral equipment such as a pallet 40 supply device and a slip sheet supply device. The system setting screen D1 is used only once unless the configuration of the system 100 is changed, and is used least frequently. The load setting screen D2 is a screen for setting the load W (see FIGS. 6A to 6E). The load setting screen D2 is used when changing at least one of the load W, the loading pattern, and the route, and is used second most frequently. The execution screen D3 is a screen for issuing instructions regarding the execution of the palletizing operation (see FIGS. 7A and 7B). The execution screen D3 is used when causing the robot 20 to perform the palletizing operation, and is used most frequently.

[0019] 5A and 5B show examples of the system setting screen D1. The system setting screen D1 accepts settings for the origin positions (reference positions) of the gripper 22, conveyor 30, and pallet 40, as well as settings for input and output signals. The system setting screen D1 in FIG. 4 is divided into two areas, left and right. The left area contains a list of setting items (gripper, pallet, conveyor, etc.), and the right area displays screens D11, D12, and D13 (see FIGS. 5B and 5C) corresponding to a setting item selected from the list.

[0020] 5A shows an example of a setting screen D11 related to the gripper 22. The setting screen D11 has setting fields for setting the weight of the gripper 22 and the position and orientation of the origin (X, Y, Z, W, P, R), and setting fields for setting the type of input / output signal and index. The position and orientation of the origin is, for example, the position and orientation of a predetermined point of the gripper 22 relative to the wrist flange of the mechanism unit 21. For example, the user performs an operation such as inputting characters such as numerical values ​​or selecting from a drop-down list in each setting field. The screen control unit 11 sets each setting field in accordance with the user's operation.

[0021] FIG. 5B shows examples of a setting screen D12 for the conveyor 30 and a setting screen D13 for the pallet 40. Each setting screen D12 and D13 has a setting field for setting the position and orientation (X, Y, Z, W, P, R) of the origin of the conveyor 30 or the pallet 40. The origin of each of the conveyor 30 and the pallet 40 is, for example, a predetermined corner located near the mechanical unit 21, and the position and orientation of these origins are positions and orientations in a robot coordinate system fixed with respect to the mechanical unit 21. For example, a user operates the robot operation device 10 to move the mechanical unit 21 to the origin, and then operates a teach button (not shown) displayed on the display unit 2 to teach the position and orientation of the origin to the robot 20. The screen control unit 11 acquires the taught position and orientation from the robot 20 and enters the position and orientation into the setting field to perform the setting. Each setting screen D12 and D13 may allow input / output signal settings in addition to setting the origin. For example, if a sensor is used to detect that the load W on the conveyor 30 has reached a predetermined position, the setting screen D12 may allow the setting of an input signal from the sensor. Also, the setting screen D12 may allow the setting of an output signal that requests the conveyor 30 to supply the load W or the orientation of the load W when supplying the load. If a sensor is used to detect that the pallet 40 has been placed at a predetermined position, the setting screen D13 may allow the setting of an input signal from the sensor.

[0022] A plurality of conveyors 30 may be arranged around the mechanical unit 21, and the loads W supplied by the plurality of conveyors 30 may be stacked on pallets 40. Therefore, the system setting screen D1 may be capable of setting a plurality of conveyors 30. In this case, the positions and orientations of a plurality of origins and identifiers corresponding to each origin (e.g., conveyor 1, conveyor 2, ...) are set. Similarly, a plurality of pallets 40 may be arranged around the mechanical unit 21, and the loads W may be stacked on the plurality of pallets 40. Therefore, the system setting screen D1 may be capable of setting a plurality of pallets 40, and the positions and orientations of a plurality of origins and identifiers corresponding to each origin (e.g., pallet 1, pallet 2, ...) are set.

[0023] The system setting screen D1 may include a wizard (not shown) to assist the user in setting the position and orientation of the origin. For example, the screen control unit 11 may start the wizard in response to tapping a wizard button in the system setting screen D1. The system setting screen D1 may be configured to allow the user to set other items in addition to the origin and input / output signals. The other items may include, for example, the reference position of the mechanism unit 21, a shortcut path from the pallet 40 to the conveyor 30, the recovery operation of the robot 20 when a load falls from the gripper 22, the order in which the loads are loaded when multiple pallets 40 are used, the position of a supply device for the pallet 40, and the position of a slip sheet supply device.

[0024] 6A to 6E show examples of the load setting screen D2. The load setting screen D2 accepts settings for the dimensions of the loads W and the pallets 40, as well as settings for the loading pattern of the loads W. The loading pattern includes the arrangement pattern of the loads W in each layer and the layer structure. The load setting screen D2 may also accept settings for the path between the conveyor 30 and the pallets 40. The load setting screen D2 in FIG. 6A is divided into two areas, left and right. The left area includes a list of setting items (dimensions, arrangement pattern, layers, path), and the right area displays screens D21, D22, D23, and D24 (see FIGS. 6B to 6E) corresponding to the setting item selected from the list.

[0025] 6B shows a setting screen D21 related to dimensions. The setting screen D21 has a setting field for setting an identifier (e.g., name) of the load W, a setting field for setting the dimensions (length, width, height) of the load W and the pallet 40, and a setting field for setting the dimensions (length, width) of the area where the load W will be placed. For example, the user inputs characters such as numbers into each setting field. The screen control unit 11 sets each setting field in accordance with the user's operation.

[0026] FIG. 6C shows a setting screen D22 for the arrangement pattern. The setting screen D22 has a setting field for setting the arrangement of the cargoes W in each layer and a setting field for setting the number of cargoes W in each layer. For example, the user performs an operation such as inputting characters such as numbers or selecting from a drop-down list in each setting field. The screen control unit 11 sets each setting field in accordance with the user's operation. As shown in the lower part of FIG. 6C, the screen control unit 11 may generate a graphic G1 of the cargoes W based on the set arrangement and number and display the graphic G1. The number of each cargo W in the graphic G1 indicates the loading order. The orientation and order of each cargo W may be changeable. For example, by operating the "edit" icon, the screen control unit 11 displays an edit screen that allows changes to the orientation and order.

[0027] FIG. 6D shows a setting screen D23 related to the layer structure. The setting screen D23 has a setting field for setting the number of layers. For example, the user can set the number of layers in the setting field by inputting a numerical value. The setting screen D23 may also allow the user to set the orientation of each layer. As shown in the lower part of FIG. 6D , the screen control unit 11 may generate a graphic G2 of the layer structure based on the set number and orientation and display the graphic G2. "Flipped" indicates a flipped layer. The setting screen D23 may also allow the user to set the arrangement of the slip sheet. For example, the setting screen D23 has a setting field for setting the thickness of the slip sheet and check boxes next to each layer, allowing the user to set the arrangement of the slip sheet by entering information in the check boxes.

[0028] FIG. 6E shows a path setting screen D24. The setting screen D24 includes graphics of the conveyor 30, the pallet 40, and the load W, as well as multiple icons for setting via points for the load W. In the example of FIG. 6E, three icons are placed on the path from the conveyor 30 to the pallet 40, and one icon is placed on the path from the pallet 40 to the conveyor 30. By operating the icons, the screen control unit 11 allows the setting of a via point. For example, the user operates the robot operation device 10 to move the mechanism unit 21 to a desired via point, and then operates a teach button (not shown) to teach the robot 20 the position of the via point. The screen control unit 11 acquires the taught position from the robot 20 and enters the position into a setting field to set the via point. Alternatively, the user may set the via point by specifying an offset distance from the center position of the top surface of the load W on the conveyor 30 or the pallet 40 to the via point.

[0029] For example, when stacking cargoes W on multiple pallets 40, the dimensions and stacking patterns of the cargoes W may differ between the pallets 40. Therefore, the cargo setting screen D2 may allow multiple settings for the cargo W. In this case, an identifier (e.g., cargo 1, cargo 2, ...) corresponding to each setting is set.

[0030] The screen control unit 11 changes the three-dimensional graphic based on parameters such as the position, dimensions, arrangement pattern, and number of layers set on the setting screens D1 and D2. The three-dimensional graphic includes three-dimensional models of the mechanism unit 21, gripper 22, conveyor 30, pallet 40, and load W arranged in virtual space. For example, the three-dimensional graphic is pre-stored in the storage unit of the control device 23, and the screen control unit 11 acquires the three-dimensional graphic data from the storage unit of the control device 23. The three-dimensional graphic changes according to the settings on the setting screens D1 and D2. Therefore, the user can check the current settings of the devices 22, 30, and 40 and the load W by using graphic B.

[0031] 7A shows an example of the execution screen D3. The execution screen D3 includes multiple icons I for instructing "execute," "cycle stop," "pause," "end," etc., and instructions are given based on the operation of the icons I. "Execute" indicates execution or resumption of the control program. The "cycle pause" icon I indicates that the mechanism unit 21 is to be returned to the reference position and stopped after the current cycle of picking up and placing the load W is completed. "Pause" indicates pausing the mechanism unit 21. "End" indicates the end of the operation program. The execution screen D3 may further include icons I for other instructions.

[0032] The command control unit 12 generates a command based on an instruction received by the execution screen D3 and transmits the command to the control device 23. For example, when the "execute" icon I is tapped, the command control unit 12 generates setting data including the setting contents based on the settings on the setting screens D1 and D2, generates an execution command for the control program, and transmits the setting data and the execution command to the control device 23. Furthermore, when the "cycle stop," "pause," or "end" icon I is tapped, the command control unit 12 generates a command corresponding to the tapped icon I and transmits the command to the control device 23.

[0033] The execution screen D3 may include progress information F of the palletizing work. In Fig. 7A, the progress information F represents the progress of two pallets 40, "Pallet 1" and "Pallet 2." During execution of the control program, the screen control unit 11 acquires information on the progress of the control program from the control device 23 and updates the progress information F in accordance with the progress of the control program.

[0034] During execution of the control program, the screen control unit 11 changes the graphic B in accordance with the progress of the control program. As a result, the graphic B is updated in real time as the palletizing operation progresses to represent the current status of the robot 20 and the load W on the pallet 40. Therefore, the user can check the current status of the palletizing operation from the graphic B.

[0035] The screen control unit 11 may change the execution screen D3 depending on the execution status of the control program. For example, when the control program is not being executed, the screen control unit 11 enables the "Run" icon I and disables the "Cycle Stop," "Pause," and "Stop" icons I. While the control program is being executed, the screen control unit 11 disables the "Run" icon I and enables the "Cycle Stop," "Pause," and "Stop" icons I. The disabled icons I are, for example, grayed out and can be distinguished from the enabled icons I. The user can check the current execution status of the control program based on the status of the icons I.

[0036] Next, the operation of the robot operation device 10 will be described. Fig. 8 shows an operation method executed by the robot operation device 10. The operation method includes step S1 of displaying a UI screen A, step S2 of accepting an operation on the UI screen A, steps S31, S32, and S33 of controlling the UI screen A based on the operation, and step S4 of setting or issuing a command to the robot 20 based on the operation.

[0037] For example, when the robot operation device 10 is started, the screen control unit 11 displays a UI screen A including a graphic B and an operation screen C (step S1). The operation screen C that is displayed first includes, for example, a system setting screen D1. After displaying the UI screen A, the screen control unit 11 controls the UI screen A based on an operation received by the UI screen A (step S2) (steps S31, S32, and S33). Specifically, if the tab E2 or E3 is operated in step S2 (YES in step S31), the screen control unit 11 switches the screen D1 displayed on the display unit 2 to the screen D2 or D3 corresponding to the operated tab E2 or E3 (step S32).

[0038] In step S2, when screen D1 or D2 is operated, screen control unit 11 performs settings related to system 100 or load W in accordance with the operation (step S4), and generates or changes graphic B according to the settings (step S33). For example, when settings for system 100 or load W are performed on setting screen D1 or D2, screen control unit 11 changes graphic B to represent settings for conveyor 30, pallet 40, load W, etc. Therefore, the user can check the current settings for system 100 and load W in real time from graphic B.

[0039] When the execution screen D3 is operated in step S2, the command control unit 12 generates a command based on the operation and transmits the command to the robot 20 (step S4). The screen control unit 11 also changes the graphic B based on the operation (step S33). For example, when the "execute" icon I is operated, the command control unit 12 generates and transmits setting data and an execution command. The control device 23 generates a target position for the mechanism unit 21 based on the setting data, and then, in response to the execution command, executes a control program using the target position. As a result, the mechanism unit 21 and the gripper 22 perform the palletizing operation based on the settings on the setting screens D1 and D2. The screen control unit 11 then changes the graphic B according to the progress of the control program. This allows the user to check the current progress of the palletizing operation in real time from the graphic B.

[0040] In order to have the robot 20 perform the palletizing work, it is necessary to set up the system 100, set up the load W, and generate and send commands to the robot 20. According to this embodiment, the UI screen A has an operation screen C on which all of these operations can be performed. Therefore, the user can complete the operations from setting up the system 100 to performing the palletizing work using a single robot operation device 10, thereby simplifying the user's operations.

[0041] For example, if some of the settings are performed using a PC (personal computer) separate from the teaching pendant, it is necessary to transfer the setting data from the PC to the control device 23. According to this embodiment, the setting data can be generated by the robot operation device 10 connected to the robot 20, so there is no need to transfer the data from the PC to the control device 23.

[0042] Furthermore, among the parameters set on the setting screens D1 and D2, some can be set offline and others can be set online. For example, some parameters, such as the origin of the gripper 22 and the dimensions of the load W, can be set offline using a PC that is not connected to the robot 20. On the other hand, other parameters, such as the positions and orientations of the origins of the conveyor 30 and pallet 40 and the positions of the waypoints, are set online while actually operating the robot 20 and cannot be set using a PC. According to this embodiment, all parameters related to the system 100 and the load W can be set using the robot operation device 10, which is a teaching console.

[0043] Furthermore, the operation screen C has three screens D1, D2, and D3 classified according to frequency of use, and only one of the three screens D1, D2, and D3 is displayed by operating tabs E1, E2, and E3. Therefore, the operability of the operation screen C can be improved compared to, for example, a case where all operations are performed on a single screen. Furthermore, the operation screen C can be displayed in an easy-to-view manner even on a relatively small display unit such as the display unit 2 of a tablet computer.

[0044] In the above embodiment, the execution screen D3 may have an edit screen that allows the user to edit the control program. The edit screen is a screen that allows the user to select from one or more settings made on the system setting screen D1 and one or more settings made on the cargo setting screen D2. In this case, the command control unit 12 generates setting data based on the combination of selected settings. For example, as shown in FIG. 7A , the execution screen D3 has an “Edit” icon. When the “Edit” icon is tapped, the screen control unit 11 displays the edit screen D31.

[0045] FIG. 7B shows an example of the editing screen D31. For example, the user can add pallets ("Pallet 1," "Pallet 2," ...) one by one to the left area of ​​the editing screen D31 by operating the "+" icon I. Pallets that can be added are those whose origin position and orientation have been set on the system setting screen D1. The "X" icon I is used to delete a pallet. The right area of ​​the editing screen D31 displays a screen for selecting settings related to the pallet 40, conveyor 30, and load W. For example, for the pallet 40, the user can change the added pallet by operating the drop-down list. For the conveyor 30, the user can select one of one or more settings (Conveyor 1, Conveyor 2, ...) made on the system setting screen D1 by operating the drop-down list. Similarly, for the load W, the user can select one of one or more settings (Load 1, Load 2, ...) made on the load setting screen D2 by operating the drop-down list.

[0046] In the above embodiment, the command control unit 12 generates setting data as a command, but instead, a control program may be generated based on settings made on the setting screens D1 and D2 and transmitted to the robot 20. In this case, the control device 23 controls the mechanism unit 21 and the gripper 22 in accordance with the control program received from the command control unit 12.

[0047] In the above embodiment, the settings related to the device may be automatically performed using a plug-in. For example, when a plug-in associated with the gripper 22 is installed in the robot operation device 10, the screen control unit 11 automatically sets the weight and the position and orientation of the origin of the gripper 22 in the setting fields based on the plug-in. This configuration reduces the number of operations by the user, further simplifying the process.

[0048] Although the embodiments and modifications of the present disclosure have been described above, the robot device and operation program of the present disclosure are not limited to the above-described embodiments and modifications, and various modifications are possible within the scope of the present disclosure. For example, the robot operation device may be any computer having a display unit 2, such as a control device 23 having a display unit 2 or a PC connected to the control device 23, or a desktop computer.

[0049] The following additional notes are provided regarding the above-described embodiment and modifications. (Supplementary Note 1) A robot operation device connected to a robot that performs palletizing work to stack loads on pallets, comprising: a display unit; a screen control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates commands for the robot based on operations on the user interface screen and transmits the commands to the robot, wherein the user interface screen includes graphics of the robot and the load and an operation screen that accepts user operations, and the operation screen includes three screens that are alternatively displayed and three tabs corresponding to the three screens, respectively, and the three screens consist of a first setting screen for setting up equipment to be used in the palletizing work, a second setting screen for setting up the load, and an execution screen for giving instructions regarding the execution of the palletizing work, and the screen control unit switches between the three screens displayed on the display unit in response to operations on the tabs, and changes the graphics in response to settings made on the first setting screen and the second setting screen, or in response to progress of the palletizing work.

[0050] (Supplementary Note 2) The robot operation device according to Supplementary Note 1, wherein the command includes setting data based on settings made on the first setting screen and the second setting screen, or a control program for causing the robot to execute the palletizing work, and the command control unit generates the setting data or the control program based on the settings made on the first setting screen and the second setting screen. (Supplementary Note 3) The robot operation device according to Supplementary Note 1 or Supplementary Note 2, wherein the first setting screen accepts settings including at least reference positions of a gripper of the robot, a conveyor that supplies the load, and the pallet, and any of input and output signals.

[0051] (Supplementary Note 4) The robot operation device according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the second setting screen accepts settings including at least any one of dimensions, loading pattern, and route of the cargo. (Supplementary Note 5) The robot operation device according to Supplementary Note 4, wherein the second setting screen has a graphic of the cargo, and the screen control unit changes the graphic of the cargo in accordance with settings of the dimensions of the cargo and the loading pattern.

[0052] (Supplementary Note 6) The robot operation device according to Supplementary Note 2, wherein the execution screen includes an edit screen that allows a selection from one or more of the settings made on the first setting screen and one or more of the settings made on the second setting screen, and the command control unit generates the setting data or the control program based on a combination of settings selected on the edit screen. (Supplementary Note 7) The robot operation device according to Supplementary Note 2, wherein the execution screen includes progress information of the palletizing work, and the screen control unit updates the progress information in accordance with progress of the control program. (Supplementary Note 8) The robot operation device according to any one of Supplementary Notes 1 to 7, wherein the robot operation device is a portable teaching operation panel.

[0053] (Supplementary Note 9) An operating program for a robot operating device connected to a robot that performs palletizing work of stacking loads on a pallet, the operating program comprising: a step of displaying a user interface screen on a display unit of the robot operating device, the user interface screen including graphics of the robot and the load and an operation screen that accepts user operations; a step of controlling the user interface screen based on the operation; a step of generating instructions regarding the execution of the palletizing work based on the operation and transmitting the instructions to the robot, wherein the operation screen includes three screens that are alternatively displayed and three tabs corresponding to the three screens, the three screens consisting of a first setting screen for setting equipment used in the palletizing work, a second setting screen for setting the load, and an execution screen for giving instructions regarding the execution of the palletizing work, the controlling step comprising: a step of switching between the three screens in response to operation of the tabs; changing the graphic in accordance with settings made on the first setting screen and the second setting screen, or in accordance with progress of the palletizing work.

[0054] 2 Display unit 5a Operation program 10 Robot operation device 11 Screen control unit 12 Command control unit 20 Robot 22 Gripper 30 Conveyor 40 Pallet A User interface screen B, G1, G2 Graphics C Operation screen D1 System setting screen (first setting screen) D2 Load setting screen (second setting screen) D3 Execution screen E1, E2, E3 Tab F Progress information W Load

Claims

1. A robot operation device connected to a robot that performs palletizing work to stack loads on pallets, comprising: a display unit; a screen control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates commands for the robot based on operations on the user interface screen and transmits the commands to the robot, wherein the user interface screen includes graphics of the robot and the load and an operation screen that accepts user operations, wherein the operation screen includes three screens that are displayed alternatively and three tabs corresponding to the three screens, the three screens consisting of a first setting screen for setting devices to be used in the palletizing work, a second setting screen for setting settings related to the load, and an execution screen for giving instructions related to the execution of the palletizing work, wherein the screen control unit switches between the three screens displayed on the display unit in response to the operation of the tab, and changes the graphics in response to settings made on the first setting screen and the second setting screen, or in response to progress of the palletizing work.

2. A robot operation device as described in claim 1, wherein the command includes setting data based on settings made on the first setting screen and the second setting screen, or a control program that causes the robot to perform the palletizing work, and the command control unit generates the setting data or the control program based on settings made on the first setting screen and the second setting screen.

3. A robot operation device as described in claim 1 or claim 2, wherein the first setting screen accepts settings including at least the reference positions of the robot's gripper, the conveyor that supplies the load, and the pallet, as well as any of input and output signals.

4. A robot operation device according to any one of claims 1 to 3, wherein the second setting screen accepts settings including at least any one of the dimensions, loading pattern and route of the cargo.

5. A robot operation device as described in claim 4, wherein the second setting screen has a graphic of the cargo, and the screen control unit changes the graphic of the cargo according to the settings of the cargo dimensions and the loading pattern.

6. A robot operation device as described in claim 2, wherein the execution screen includes an editing screen that allows a user to select from one or more of the settings made on the first setting screen and one or more of the settings made on the second setting screen, and the command control unit generates the setting data or the control program based on a combination of settings selected on the editing screen.

7. A robot operation device according to claim 2, wherein the execution screen includes progress information of the palletizing work, and the screen control unit updates the progress information in accordance with the progress of the control program.

8. A robot operation device according to any one of claims 1 to 7, wherein the robot operation device is a portable teaching operation panel.

9. An operation program for a robot operating device connected to a robot that performs palletizing work of stacking loads on a pallet, comprising: a step of displaying a user interface screen on a display unit of the robot operating device, the user interface screen including graphics of the robot and the load and an operation screen for accepting user operation; a step of controlling the user interface screen based on the operation; a step of generating instructions regarding the execution of the palletizing work based on the operation and sending the instructions to the robot, wherein the operation screen includes three screens that are alternatively displayed and three tabs respectively corresponding to the three screens, the three screens consisting of a first setting screen for setting equipment used in the palletizing work, a second setting screen for setting the load, and an execution screen for giving instructions regarding the execution of the palletizing work, and the control step includes a step of switching between the three screens in response to operation of the tabs; and a step of changing the graphics in response to settings made on the first setting screen and the second setting screen, or in response to progress of the palletizing work.

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