Teaching support device, teaching support method, and teaching support program

Abstract

A teaching support device 30 displays an image of a model of a robot 10 having an arm 12 and a hand 14 connected to the arm 12 on a display 21. The teaching support device 30 comprises: a setting unit 321 for setting a robot model 10m obtained by modeling the robot 10; a receiving unit 322 for receiving a target position of the hand 14 of the robot model 10m; a deriving unit 323 for deriving a posture of the robot model 10m when the hand 14 is positioned at the target position; and an image generation unit 324 for generating an image of the target position and the robot model 10m. When the target position is changed via the receiving unit 322, the image generation unit 324 generates an image of the target position that is changed and moves, and an image of the robot model 10m the posture of which changes following the movement of the target position.

Description

Teaching support device, teaching support method, and teaching support program

[0001] The technology disclosed herein relates to a teaching assistance device, a teaching assistance method, and a teaching assistance program.

[0002] There have been known teaching support devices for confirming the posture of a robot. For example, a teaching support device disclosed in Patent Document 1 confirms the motion of a robot model by replaying the motion of the robot model on a touch screen based on a motion trajectory determined from a set start point and end point.

[0003] Patent No. 6526098

[0004] In the teaching assistance device described above, the user sets one start point and one end point of the robot model, and then displays the robot model's motion. Here, the user may want to change the target position that serves as the end point of the robot model. In this case, the user needs to check multiple target positions to find an appropriate target position. That is, the user needs to set each target position one by one and check the posture of the robot model one by one. This increases the time required to determine the target position of the robot model.

[0005] The technique disclosed herein has been made in view of the above points, and its purpose is to reduce the time required to determine the target position of a robot model.

[0006] The teaching support device disclosed herein is a teaching support device that displays on a display an image of a model of a robot having an arm and an end effector connected to the arm, and is equipped with a setter that sets a robot model that models the robot, a receiver that receives a target position of the end effector of the robot model, a deriver that derives the posture of the robot model when the end effector is located at the target position, and an image generator that generates images of the target position and the robot model, and when the target position is changed via the receiver, the image generator generates an image of the target position that is changed and moving, and an image of the robot model whose posture changes to follow the movement of the target position.

[0007] The teaching assistance method disclosed herein is a teaching assistance method that displays on a display an image of a model of a robot having an arm and an end effector connected to the arm, and includes the steps of: setting a robot model that models the robot; receiving a target position of the end effector of the robot model; deriving the posture of the robot model when the end effector is located at the target position; generating images of the target position and the robot model; and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model whose posture changes to follow the movement of the target position.

[0008] The teaching assistance program disclosed herein is a teaching assistance program that displays on a display an image of a model of a robot having an arm and an end effector connected to the arm, and causes a computer to realize the following functions: a function of setting a robot model that models the robot; a function of accepting a target position of the end effector of the robot model; a function of deriving the posture of the robot model when the end effector is located at the target position; and a function of generating images of the target position and the robot model, and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model whose posture changes to follow the movement of the target position.

[0009] According to the teaching assistance device, the teaching assistance method, and the teaching assistance program, the time required to determine a target position of a robot model can be reduced.

[0010] FIG. 1 is a schematic diagram showing a teaching support system including a teaching support device according to an embodiment. FIG. 2 is a schematic diagram showing a robot used in a clean room. FIG. 3 is a block diagram showing the configuration of the teaching support device. FIG. 4 is a diagram showing images of each model displayed on a display. FIG. 5 is a flowchart showing the operation of the teaching support device. FIG. 6 is a diagram showing an image including a housing model with initial specifications. FIG. 7 is a diagram showing an image before a target position is changed. FIG. 8 is a diagram showing an image after a target position is changed. FIG. 9 is a diagram showing an image in which the display of the target position has been changed because the posture of the robot model cannot be derived. FIG. 10 is a diagram showing an image in which the display of the robot model has been changed because the robot model is interfering with an interference model. FIG. 11 is a diagram showing three-dimensional images of each model displayed on a display.

[0011] An exemplary embodiment will be described in detail below with reference to the drawings. Fig. 1 is a schematic diagram showing a teaching support system 20 including a teaching support device 30 according to an embodiment. The teaching support system 20 is used to determine the layout of a location where a robot will be used based on an image of a robot model, etc. The teaching support system 20 includes the teaching support device 30, a display 21, and a mouse 22.

[0012] The teaching support device 30 generates an image of the robot model, etc., and displays the generated image on the display 21. The display 21 displays the image upon receiving a signal from the teaching support device 30. The display 21 is, for example, a liquid crystal display or an organic EL display. The mouse 22 receives an input operation from a user. The mouse 22 outputs a signal corresponding to the input operation to the teaching support device 30. The mouse 22 is an example of an input device.

[0013] FIG. 2 is a schematic diagram showing a robot 10 used in the clean room 1. The robot 10 shown in FIG. 2 is an example of a robot targeted by the teaching support device 30. The robot 10 is a horizontally articulated robot (SCARA robot). The robot 10 has a base 11, an arm 12 connected to the base 11, and a hand 14 connected to the arm 12. The arm 12 is connected to the base 11 so as to be rotatable in the horizontal direction. The arm 12 has a plurality of links 13 connected to each other. The hand 14 is an example of an end effector.

[0014] The arm 12 is composed of two links 13. The two links 13 are connected to each other so as to be rotatable in the horizontal direction. The two links 13 are, in order from the base 11 side, a first link 13a and a second link 13b. The first link 13a is connected to the base 11 so as to be rotatable around a first axis L1 extending in the vertical direction. The second link 13b is connected to the first link 13a so as to be rotatable around a second axis L2 extending in the vertical direction. When there is no need to distinguish between the first link 13a and the second link 13b, they will be simply referred to as "links 13."

[0015] The robot 10 has two hands 14, i.e., a first hand 14a and a second hand 14b. The first hand 14a is an example of a first end effector, and the second hand 14b is an example of a second end effector. The first hand 14a is located lower than the second hand 14b. The first hand 14a and the second hand 14b have the same basic configuration. The hand 14 has a plate-like shape extending horizontally, and the tip of the hand 14 is bifurcated. In other words, the shape of the hand 14 is approximately Y-shaped when viewed in its thickness direction. The first hand 14a and the second hand 14b are connected to the second link 13b so as to be rotatable horizontally around a third axis L3 extending vertically. The first axis L1, the second axis L2, and the third axis L3 extend parallel to one another. When there is no need to distinguish between the first hand 14a and the second hand 14b, they will be simply referred to as "hands 14."

[0016] The first link 13a, the second link 13b, the first hand 14a, and the second hand 14b are stacked in this order from bottom to top. Although not shown, the robot 10 has a plurality of motors that rotate the two links 13 and the two hands 14. The robot 10 transports a substrate S as an object by placing it on the upper surface of the hand 14 without fixing it thereto. In other words, the object is simply placed on the upper surface of the hand 14 and is not fixed thereto.

[0017] The clean room 1 includes a housing 2, and a robot 10 is disposed within the housing 2. The clean room 1 is used, for example, for an EFEM (Equipment Front End Module). The housing 2 is substantially rectangular parallelepiped. The interior of the housing 2 is a clean space. The robot 10 transports a substrate S within the clean room 1. For example, the substrate S is a disk-shaped semiconductor wafer.

[0018] A plurality of FOUPs (Front Opening Unified Pods) 4 and a plurality of processing devices 5 are attached to the housing 2 from the outside of the housing 2. In this example, two FOUPs 4 and two processing devices 5 are provided in the housing 2. The multiple FOUPs 4 are arranged on one side wall of the housing 2. The multiple processing devices 5 are arranged on the side wall of the housing 2 opposite the side wall on which the FOUPs 4 are arranged. The interiors of the FOUPs 4 and the processing devices 5 can communicate with the interior of the housing 2. The FOUP 4 accommodates substrates S. The FOUP 4 accommodates, for example, a plurality of substrates S horizontally and spaced equally apart in the vertical direction. The processing devices 5 process the substrates S. The processing devices 5 are processing devices that perform various processes on the substrates S, such as heat treatment, impurity introduction processing, and thin film formation processing.

[0019] The robot 10 transports the substrate S between the FOUP 4 and the processing device 5. That is, the arm 12 and the hand 14 transport the substrate S between the FOUP 4 and the processing device 5. The areas inside the housing 2, the FOUP 4, and the processing device 5 correspond to the operable area of ​​the robot 10.

[0020] An obstruction 6 may be placed inside the housing 2. The obstruction 6 may be static or dynamic. The static obstruction 6 is, for example, a stationary obstruction such as a pillar, a screw, or a wiring cover. The dynamic obstruction 6 is, for example, a moving obstruction such as another robot or a shutter.

[0021] The teaching support device 30 displays on the display 21 an image of a model of the robot 10 having an arm 12 and a hand 14 connected to the arm 12. The teaching support device 30 accepts a change in the target position of the model of the robot 10 and generates an image of the changed and moving target position and an image of the model of the robot 10 whose posture changes in response to the movement of the target position. In other words, the teaching support device 30 accepts continuous movement of the target position from the user and generates an image of the continuously moving target position in response to the change and an image of the model of the robot 10 whose posture changes in response to the movement of the target position, and provides the generated images to the user. FIG. 3 is a block diagram showing the configuration of the teaching support device 30. The teaching support device 30 has a storage unit 31, a processor 32, and a memory 33.

[0022] The processor 32 performs various types of arithmetic processing. For example, the processor 32 is formed of a processor such as a CPU (Central Processing Unit). The processor 32 may be formed of an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, or the like.

[0023] The memory 31 stores various programs and various data executed by the processor 32. The memory 31 is formed of a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 31 stores control programs such as a teaching assistance program 311. The teaching assistance program 311 is a teaching assistance program that causes a computer, i.e., the teaching assistance device 30, to realize various functions for generating images such as a model of the robot 10 to be displayed on the display 21. The teaching assistance program 311 is constructed, for example, based on a genetic algorithm.

[0024] The memory 33 temporarily stores data, etc. For example, the memory 33 is formed of a volatile memory.

[0025] The processor 32 realizes various functions by reading out control programs such as the teaching assistance program 311 from the storage unit 31 and expanding them in the memory 33. Specifically, the processor 32 has, as functional blocks, a setter 321, a receiver 322, a deriving unit 323, and an image generator 324. The processor 32 may further have, as functional blocks, a warning unit 325 and a determiner 326.

[0026] The setter 321 sets a robot model 10m that models the robot 10. In addition to the robot model 10m, the setter 321 sets a housing model 2m that models the housing 2, a hoop model 4m that models the hoop 4, a processing device model 5m that models the processing device 5, and an interference object model 6m that models the interference object 6. Each model will now be described. FIG. 4 is a schematic diagram showing an image of each model displayed on the display 21. The image shown in FIG. 4 corresponds to the layout shown in FIG. 2.

[0027] The robot model 10m includes elements that model the arm 12 and hand 14 of the robot 10. Each element of the robot model 10m is assigned a symbol that adds "m" to the symbol of the corresponding element of the robot 10. That is, the robot model 10m has an arm 12m and a hand 14m. The arm 12m includes a link 13m, which, with reference to FIG. 7, includes a first link 13am and a second link 13bm. With reference to FIG. 7, the hand 14m includes a first hand 14am and a second hand 14bm. The robot model 10m also includes a substrate Sm placed on the hand 14m. The substrate Sm is placed on each of the first hand 14am and the second hand 14bm. The robot model 10m does not include the base 11 of the robot 10. When the first link 13am and the second link 13bm are not to be distinguished from each other, they are simply referred to as "link 13m." When there is no need to distinguish between the first hand 14am and the second hand 14bm, they will simply be referred to as "hands 14m."

[0028] The position of the robot model 10m is defined, for example, by the position of the first axis L1, which is the center of rotation of the first link 13am. Note that the position of the robot model 10m may be defined by the position of a corner of the first link 13am, or, if the base 11 of the robot 10 is modeled, by the position of the modeled base.

[0029] The housing model 2 m models the side walls of the housing 2 , that is, the planar shape of the housing 2 .

[0030] The hoop model 4m models the side peripheral wall of the hoop 4, i.e., the planar shape of the hoop 4. Target positions P1 and P2 are set inside each of the two hoop models 4m. Each of the target positions P1 and P2 is a target position of the hand 14m in the hoop model 4m. In this example, the position of the hand 14m is defined by the center position of the substrate Sm placed on the hand 14m, and the target position of the hand 14m in the hoop model 4m is defined by the center position of the substrate Sm housed in the hoop model 4m. In other words, the position of the hand 14m when the substrate Sm in the hoop model 4m is placed on the hand 14m is the target position of the hand 14m in the hoop model 4m.

[0031] The processing apparatus model 5m models the side walls of the processing apparatus 5, i.e., the planar shape of the processing apparatus 5. Target positions P3 and P4 are set inside each of the two processing apparatus models 5m. Each of the target positions P3 and P4 is a target position of the hand 14m in the processing apparatus model 5m. In this example, the position of the hand 14m is defined by the center position of the substrate Sm placed on the hand 14m, and the target position of the hand 14m in the processing apparatus model 5m is defined by the center position of the substrate Sm accommodated in the processing apparatus model 5m. In other words, the position of the hand 14m when the substrate Sm in the processing apparatus model 5m is placed on the hand 14m is the target position of the hand 14m in the processing apparatus model 5m.

[0032] The interference model 6 m models the planar shape of the interference object 6 .

[0033] The setter 321 sets the specifications (parameters) of each model when setting the model. Specifically, with regard to the specifications of the housing model 2m, the setter 321 sets the position of the housing, the planar shape, the number of side walls, the size of the side walls, etc. With regard to the specifications of the robot model 10m, the setter 321 sets the relative position of the robot model 10m with respect to the housing model 2m, the number of links 13m, the length of the links 13m, the number of hands 14m, the size and shape of the hands 14m, etc. With regard to the specifications of the hoop models 4m, the setter 321 sets the number, size, shape, and relative position of the hoop models 4m with respect to the housing model 2m, etc. With regard to the specifications of the processing device models 5m, the setter 321 sets the number, size, shape, and relative position of the processing device models 5m with respect to the housing model 2m, etc. With regard to the specifications of the interference object models 6m, the setter 321 sets the number, size, shape, and relative position of the interference object models 6m with respect to the housing model 2m, etc.

[0034] The specifications of each model include changeable specifications. The setter 321 can change at least one of the specifications of each model described above. For example, the setter 321 can change the number of links 13m or the length of the links 13m for the robot model 10m. The setter 321 changes the changeable specifications in response to input from the user. The input from the user regarding the specifications of each model is input to the receiver 322. The setter 321 sets the specifications of each model in response to the input regarding the specifications received by the receiver 322. If there is no input from the user regarding the changeable specifications, the setter 321 sets the changeable specifications to their initial settings.

[0035] The image generator 324 generates an image of the robot model 10m and outputs the generated image to the display 21. Specifically, the image generator 324 generates images of the housing model 2m, the hoop model 4m, the processing device model 5m, and the interference model 6m in addition to the robot model 10m. At this time, the image generator 324 generates images of the models set by the setter 321. The generated images are displayed on the display 21.

[0036] The receiver 322 receives a target position of the hand 14m of the robot model 10m. The setter 321 sets the target position received by the receiver 322. Specifically, the receiver 322 receives input from the user regarding the target position via the mouse 22. The input of the target position also includes a change to an already set target position. When the receiver 322 receives a change to the target position, the setter 321 updates the target position to the changed target position.

[0037] For example, an image generated by the image generator 324 is displayed on the display 21. The image includes at least one hoop model 4m or one processing device model 5m. The hoop model 4m and the processing device model 5m correspond to target positions of the hand 14m. The user operates the mouse 22 to select and drag one of the multiple hoop models 4m or the multiple processing device models 5m using a pointer Q displayed on the display 21. The acceptor 322 accepts the drag operation on the hoop model 4m or the processing device model 5m via the mouse 22 as an input of the target position. Since the drag operation continuously changes the position of the hoop model 4m or the processing device model 5m, the drag operation on the hoop model 4m or the processing device model 5m using the mouse 22 corresponds to a continuous change of the target position. The user may operate the mouse 22 to newly position the hoop model 4m or the processing device model 5m in the image. The new positioning of the hoop model 4m or the processing device model 5m corresponds to the input of a new target position.

[0038] The deriver 323 derives the posture of the robot model 10m when the hand 14m of the robot model 10m is located at a target position. Hereinafter, the "posture of the robot model 10m when the hand 14m is located at a target position" will also be simply referred to as the "target posture." Specifically, the deriver 323 derives the posture of the robot model 10m within the area (operable area) of the housing model 2m, the hoop model 4m, and the processing device model 5m. In other words, the deriver 323 derives the posture of the robot model 10m that does not interfere with the housing model 2m, the hoop model 4m, and the processing device model 5m. The deriver 323 derives the posture of the robot model 10m taking into account conditions such as the possible rotation angles of the first link 13am, the second link 13bm, the first hand 14am, and the second hand 14bm. The deriver 323 typically derives the posture of the robot model 10m that does not interfere with the interference model 6m. However, if the deriver 323 cannot derive the attitude of the robot model 10m that does not interfere with the interference model 6m, the deriver 323 derives the attitude of the robot model 10m that interferes with the interference model 6m. When the target position set by the setter 321 is changed, the deriver 323 re-derives the target attitude of the robot model 10m that corresponds to the changed target position.

[0039] The image generator 324 generates images of the target position and the robot model 10m. The image generator 324 outputs the generated images to the display 21. The image generator 324 generates an image of the hoop model 4m or an image of the processing device model 5m as an image of the target position. The image generator 324 further generates an image of the housing model 2m and an image of the interference model 6m. The image generator 324 combines the image of the housing model 2m, the image of the hoop model 4m, the image of the processing device model 5m, the image of the interference model 6m, and the image of the robot model 10m. The image generator 324 outputs the combined image to the display 21.

[0040] When the target posture of the robot model 10m has been derived by the derivation unit 323, the image generator 324 generates an image of the robot model 10m in the target posture. That is, in the generated image, the hand 14m of the robot model 10m is located at the target position, and the arm 12m of the robot model 10m is in a posture that realizes placement of the hand 14m at the target position. When the target posture is updated by the derivation unit 323, the image generator 324 generates an image of the robot model 10m in the updated target posture.

[0041] As described above, the receiver 322 can receive continuous input of the target position, i.e., continuous changes. In this case, the setter 321 sequentially updates the changed target position in response to the continuous changes in the target position, and the deriving unit 323 sequentially derives the posture of the robot model 10m corresponding to the updated target position. The image generator 324 sequentially generates images of the updated target position and images of the robot model 10m in the derived target posture. As a result, when the target position is changed via the receiver 322, the image generator 324 generates an image of the changed and moving target position and an image of the robot model 10m whose posture changes in response to the movement of the target position. In other words, the image generator 324 generates a moving image of the target position and the robot model 10m whose posture changes in response to the movement of the target position. The image generator 324 outputs to the display 21 the image of the changed and moving target position and the image of the robot model 10m whose posture changes in response to the movement of the target position.

[0042] When the deriver 323 cannot derive the robot model 10m when the hand 14m is located at the target position, the warning device 325 notifies the user that the deriver 323 cannot derive the robot model 10m. Specifically, when the deriver 323 cannot derive the robot model 10m when the hand 14m is located at the target position, the warning device 325 causes the image generator 324 to change the display of the target position. For example, the warning device 325 causes the image generator 324 to change the color of the display of the target position when the robot model 10m cannot be derived from the color of the display of the target position when the robot model 10m can be derived. As an example, the color of the display of the target position when the robot model 10m cannot be derived is red, and the color of the display of the target position when the robot model 10m can be derived is blue.

[0043] The determiner 326 determines interference between the robot model 10m and the interfering object model 6m. When the determiner 326 determines that the robot model 10m and the interfering object model 6m are interfering with each other, the warning device 325 further notifies the user that the robot model 10m is interfering with the interfering object model 6m. Specifically, when the determiner 326 determines that the robot model 10m and the interfering object model 6m are interfering with each other, the warning device 325 causes the image generator 324 to change the display color of the robot model 10m. For example, the warning device 325 changes the display color of the robot model 10m that is interfering with the interfering object model 6m from the display color of the robot model 10m that is not interfering with the interfering object model 6m. As an example, the display color of the robot model 10m that is interfering with the interfering object model 6m is red, and the display color of the robot model 10m that is not interfering with the interfering object model 6m is blue.

[0044] Next, the layout setting process by the teaching assistance device 30 will be described with reference to the flowchart in FIG. 5 . In the layout setting process, the acceptor 322 accepts a change in the target position of the robot model 10m. The setter 321 sets the changed target position. The deriving unit 323 derives a target posture of the robot model 10m corresponding to the changed target position. The image generator 324 generates an image of the changed target position and an image of the target posture of the robot model 10m that changes to follow the changed target position. This allows the user to confirm the target posture of the robot model 10m while moving the target position, and determine the target position of the robot model 10m.

[0045] First, in step S1, the setter 321 performs initial settings for the specifications of each model. Specifically, the setter 321 performs initial settings for the housing model 2m, the target position, the interference model 6m, and the robot model 10m. Part of the specifications for each model in the initial settings are stored in advance in the storage device 31, and the remaining specifications are input by the user. In other words, the setter 321 performs initial settings for the housing model 2m, the target position, the interference model 6m, and the robot model 10m based on the initial specifications for each model stored in the storage device 31 and the specifications received from the user by the reception device 322. Step S1 is an example of "setting the robot model 10m modeled on the robot 10" in the teaching assistance method.

[0046] In the initial setting, the image generator 324 generates an image in which the housing model 2m, the target position, the interference object model 6m, and the robot model 10m are combined, and displays the generated image on the display 21. At this time, the robot model 10m is in its initial posture. For example, the initial posture of the robot model 10m is a posture in which the multiple links 13m and the multiple hands 14m overlap in a planar view. Note that the deriver 323 may, in the initial setting, derive the posture of the robot model when the hand 14m is located at one of the target positions, and the image generator 324 may generate an image of the robot model 10m in the derived posture.

[0047] Specifically, the setter 321 sets the size and shape of the housing model 2m according to the initial specifications. As shown in FIG. 6 , the image generator 324 generates an image including the housing model 2m according to the initial specifications (see solid lines) and displays the generated image on the display 21. The user changes the size and shape of the housing model 2m by operating a pointer Q with the mouse 22 and dragging one vertex of the housing model 2m. When the receiver 322 receives a user's operation input of the mouse 22, the setter 321 sets the size and shape of the housing model 2m based on the operation input received by the receiver 322. At the same time, as shown in FIG. 4 , the image generator 324 generates an image of the housing model 2m according to the set size and shape and displays the generated image on the display 21. Note that instead of the mouse 22 operation described above, for example, the receiver 322 may receive coordinate values ​​input by the user via a keyboard or the like, and the setter 321 may set the size of the housing model 2m based on the coordinate values ​​received by the receiver 322.

[0048] The setter 321 sets target positions one by one based on input operations by the user. The setter 321 sets the hoop models 4m and the processing device models 5m as target positions. Specifically, the setter 321 sets the quantity, shape, size, and position of the hoop models 4m and the processing device models 5m. For example, with respect to the hoop model 4m, the setter 321 sets multiple options for the shape and size as initial specifications. The image generator 324 generates an image including options for the shape and size of the hoop model 4m and displays it on the display 21. The acceptor 322 accepts the user's selection of an option via the mouse 22. The setter 321 sets the shape and size of the hoop model 4m according to the option accepted by the acceptor 322. The acceptor 322 accepts the user's specification of an initial position via the mouse 22. The setter 321 sets the specified position accepted by the acceptor 322 as the initial position of the hoop model 4m. If the quantity, shape, size, or initial position of the hoop models 4m is stored in advance in the memory 31, the setter 321 may read and set the quantity, shape, size, or initial position stored in the memory 31. The setting for the processing device model 5m is similar to the setting for the hoop model 4m.

[0049] When the target position is set by the setter 321, the image generator 324 generates an image including the hoop model 4m and the processing device model 5m whose quantity, shape, size, and position have been set, and displays the image on the display 21. The image generator 324 generates an image in which the hoop model 4m and the processing device model 5m are incorporated into the housing model 2m. The housing model 2m, the hoop model 4m, and the processing device model 5m are connected so that their internal spaces are continuous.

[0050] The setter 321 sets the interfering object model 6m in response to an input operation by the user. The setter 321 sets the quantity, shape, size, and position of the interfering object model 6m. Specifically, with respect to the interfering object model 6m, the setter 321 sets a plurality of options for the shape and size as initial specifications. The image generator 324 generates an image including options for the shape and size of the interfering object model 6m and displays the image on the display 21. The acceptor 322 accepts the selection of an option by the user via the mouse 22. The setter 321 sets the shape and size of the interfering object model 6m in accordance with the option accepted by the acceptor 322. The acceptor 322 accepts the user's specification of the initial position of the interfering object model 6m via the mouse 22. The setter 321 sets the specified position accepted by the acceptor 322 as the initial position of the interfering object model 6m. If the number, shape, size or initial position of the interfering object model 6m is stored in advance in the storage device 31, the setting device 321 may read and set the shape, size or initial position stored in the storage device 31. The position of the interfering object model 6m can also be set by inputting coordinate values.

[0051] When the interfering object model 6m is set by the setter 321, the image generator 324 generates an image including the interfering object model 6m whose quantity, shape, size, and position have been set, and displays the image on the display 21. The image generator 324 generates an image in which the interfering object model 6m is incorporated into the housing model 2m.

[0052] The setter 321 sets the robot model 10m in response to input operations by the user. The setter 321 sets the shape, size, and position of the robot model 10m. Specifically, for the robot model 10m, the setter 321 sets a plurality of options for the shape and size as initial specifications. The image generator 324 generates an image including the options for the shape and size of the robot model 10m and displays it on the display 21. The acceptor 322 accepts the selection of an option by the user via the mouse 22. The setter 321 sets the shape and size of the robot model 10m in accordance with the option accepted by the acceptor 322. The acceptor 322 accepts the user's specification of an initial position of the robot model 10m via the mouse 22. The setter 321 sets the specified position accepted by the acceptor 322 as the initial position of the robot model 10m. If the shape, size, or initial position of the robot model 10m is stored in advance in the storage device 31, the setting device 321 may read and set the shape, size, or initial position stored in the storage device 31. The position of the robot model 10m can also be set by inputting coordinate values.

[0053] When the robot model 10m is set by the setter 321, the image generator 324 generates an image including the robot model 10m whose shape, size, and position have been set, and displays the image on the display 21. The image generator 324 generates an image in which the robot model 10m is incorporated into the housing model 2m.

[0054] In step S2, the acceptor 322 determines whether a change in the target position has been received. Specifically, the acceptor 322 determines whether an input for changing the target position has been received via the mouse 22 or the like. For example, the acceptor 322 accepts a drag operation on one target position as an input for changing the target position. If there is no input for changing the target position, the acceptor 322 determines in step S3 whether there is an input for confirming the layout. For example, a confirm button for confirming the layout is displayed on the display 21. When the user clicks the confirm button via the mouse 22, the acceptor 322 accepts the input for confirming the layout. If the acceptor 322 accepts the input for confirming the layout, the setter 321 stores the current layout, i.e., the settings of each model, in the memory 31, and the layout setting process is completed. If there is no input for confirming the layout, the acceptor 322 returns to step S2. The acceptor 322 cyclically repeats steps S2 and S3, and waits for an input for changing the target position or for confirming the layout. Although the layout is confirmed by clicking the Confirm button, instead of or in addition to clicking the Confirm button, the layout may be confirmed when a certain period of time has elapsed without any position change input.

[0055] If the acceptor 322 accepts a change in the target position in step S2, then in step S4, the setter 321 changes the target position to the position accepted by the acceptor 322. Step S2 is an example of "accepting a target position of the hand 14m of the robot model 10m" in the teaching assistance method.

[0056] In step S5, the deriving unit 323 derives a target posture of the robot model 10m corresponding to the target position set by the setting unit 321. Step S5 is an example of "deriving the posture of the robot model 10m when the hand 14m is located at the target position" in the teaching assistance method.

[0057] In step S6, the deriver 323 determines whether or not the desired posture of the robot model 10m has been derived. If the deriver 323 has been able to derive the desired posture of the robot model 10m, in step S7, the determiner 326 determines whether or not there is interference between the robot model 10m and the interfering object model 6m.

[0058] If there is no interference between the robot model 10m and the interfering object model 6m in step S7, in step S8 the image generator 324 generates an image of the target position and an image of the robot model 10m in a target posture corresponding to the target position, and displays the generated images on the display 21. Thereafter, the process returns to step S3. Step S8 is an example of "generating an image of the target position and the robot model 10m, and when the target position is changed, generating an image of the changed and moving target position and an image of the robot model 10m whose posture changes to follow the movement of the target position" in the teaching assistance method.

[0059] As long as the change of the target position continues to be accepted, the processes from step S3 onwards are repeated. As a result, an image of the changed target position and an image of the robot model 10m in the target posture corresponding to the changed target position are continuously generated, and the generated images are displayed on the display 21.

[0060] For example, when the position of the hoop model 4m is to be changed as the target position, as shown in FIG. 7 , the user operates the pointer Q with the mouse 22 to drag the hoop model 4m as the target position P1, thereby changing the position of the hoop model 4m as shown in FIG. 8 . When the receiver 322 receives a user's operation input using the mouse 22, the setter 321 sets the position of the hoop model 4m based on the operation input received by the receiver 322. When the position of the hoop model 4m is changed, the deriver 323 derives the posture of the robot model 10m in which the hand 14m is positioned on the hoop model 4m after the change. The image generator 324 generates an image of the robot model 10m in which the hand 14m is positioned on the hoop model 4m, based on the position of the hoop model 4m set by the setter 321 and the posture of the robot model 10m derived by the deriver 323. The generated image is displayed on the display 21.

[0061] Dragging the hoop model 4m is an input from the user that continuously (strictly speaking, intermittently) changes the position of the hoop model 4m. Therefore, the setter 321 continuously sets, i.e., changes, the position of the hoop model 4m. In response, the deriver 323 also continuously derives the posture of the robot model 10m, and the image generator 324 continuously generates images of the changed hoop model 4m and robot model 10m. As a result, the image generator 324 continuously generates images of the changed hoop model 4m and the robot model 10m whose posture has changed to follow the hoop model 4m, thereby generating moving images of the hoop model 4m and robot model 10m moving.

[0062] This allows the user to change the position of the hoop model 4m while visually checking the hoop model 4m whose position is being changed and the robot model 10m that is deforming in accordance with the hoop model 4m.

[0063] If the deriver 323 cannot derive the posture of the robot model 10m in step S6, the warning device 325 causes the image generator 324 to change the display of the target position accepted by the acceptor 322 in step S10. For example, the image generator 324 changes the color of the target position in response to the command from the warning device 325. In this way, the warning device 325 notifies the user that the deriver 323 cannot derive the robot model 10m. Then, the process returns to step S2.

[0064] Specifically, from the state shown in FIG. 8 , as shown in FIG. 9 , the user moves the hoop model 4m as the target position P1 by operating the pointer Q with the mouse 22. Assume that the position of the hoop model 4m is too far from the robot model 10m, and therefore the derivation unit 323 cannot derive the robot model 10m located at the hoop model 4m. In this case, the warning unit 325 causes the image generator 324 to change the display of the hoop model 4m to one indicated by hatching. Hatching is represented, for example, by the color red in the actual image. Since the posture of the robot model 10m is not derived by the derivation unit 323, it returns to its initial posture.

[0065] If the robot model 10m and the interfering object model 6m interfere with each other in step S7, the warning device 325 causes the image generator 324 to change the display of the robot model 10m in step S9. For example, the image generator 324 generates an image of the robot model 10m in a posture in which the hand 14m is positioned at the target position, and displays the image on the display 21. At this time, the image generator 324 changes the color of the robot model 10m in response to a command from the warning device 325. As a result, the warning device 325 notifies the user that the robot model 10m is interfering with the interfering object model 6m. Then, the process returns to step S2.

[0066] Specifically, from the state shown in FIG. 8 , as shown in FIG. 10 , the user moves the hoop model 4m as the target position P1 by operating the pointer Q with the mouse 22. At this time, the derivation unit 323 can derive the robot model 10m located at the hoop model 4m, but the robot model 10m cannot avoid the interfering object model 6m. In this case, the warning unit 325 causes the image generator 324 to change the display of the robot model 10m interfering with the interfering object model 6m to be displayed with hatching. The hatching is displayed, for example, in red in the actual image. The warning unit 325 changes the display of the board Sm of the second hand 14bm interfering with the interfering object model 6m.

[0067] As described above, the user can change the position of the hoop model 4m as the target position P1. Similarly, the user can change the position of the hoop model 4m as the target position P2, the position of the processing device model 5m as the target position P3, and the position of the processing device model 5m as the target position P4.

[0068] According to the teaching assistance device 30, when the target position is changed via the acceptor 322, the image generator 324 generates an image of the changed and moved target position and an image of the robot model 10m whose posture changes in response to the movement of the target position. This allows the user to continuously check the posture of the robot model 10m, which changes in response to the movement of the target position, while watching the display 21. Therefore, when the target position is changed and the target position of the robot model 10m is determined based on the posture of the robot model 10m, the time required to determine the target position of the robot model 10m can be reduced.

[0069] In addition, the teaching support device 30 is equipped with an alarm 325, so that when the user moves the target position and the hand 14m does not reach the target position, the user can easily know from the alarm 325 that the derivation device 323 is unable to derive the robot model 10m.

[0070] Furthermore, when the deriver 323 cannot derive the robot model 10m with the hand 14m positioned at the target position, the warning device 325 causes the image generator 324 to change the display of the target position accepted by the acceptor 322. This allows the user to easily determine that the deriver 323 cannot derive the robot model 10m by the change in the display of the target position.

[0071] In addition, since the teaching support device 30 is equipped with a determiner 326 and a warning device 325, when the user moves the target position and the robot model 10m interferes with the interfering object model 6m, the user can easily know from the warning device 325 that the robot model 10m is interfering with the interfering object model 6m.

[0072] Furthermore, when the determiner 326 determines that the robot model 10m and the interfering object model 6m are interfering with each other, the warning device 325 causes the image generator 324 to change the display of the robot model 10m. This allows the user to easily determine that the robot model 10m is interfering with the interfering object model 6m by the change in the display of the robot model 10m.

[0073] Furthermore, since the interference model 6m is a model of a static or dynamic interference object 6, the user can display the static or dynamic interference object 6 as an image on the display 21.

[0074] Furthermore, since the robot model 10m is a model of the robot 10 including the first hand 14a and the second hand 14b, the robot model 10m is intended for robots 10 with more complex configurations. Even for such complex robots, the time required to determine the target position of the robot model 10m can be reduced.

[0075] The robot model 10m is a model of a horizontal articulated robot 10 in which the hand 14 transports the substrate S. For such a robot, the time required to determine the target position of the robot model 10m can also be reduced.

[0076] The target position corresponds to the positions of the hoop model 4m and the processing device model 5m, and the deriving unit 323 derives the posture of the robot model 10m within the area of ​​the housing model 2m, the hoop model 4m, and the processing device model 5m. This allows the user to check the posture of the robot 10 used in a clean room. Therefore, the posture of the robot 10 used in an environment with strict operational restrictions can be checked in a short time.

[0077] Other Embodiments As described above, the above-described embodiments have been described as examples of the technology disclosed in the present application. However, the technology disclosed herein is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0078] For example, the location where the robot 10 is used is not limited to a clean room where semiconductor wafers are processed, but may be a space where other materials are processed, that is, a space with low air cleanliness.

[0079] The numbers of FOUPs 4 and processing devices 5 are not limited to the above examples, and may be increased or decreased. Accordingly, the numbers of FOUP models 4m and processing device models 5m are not limited to the above examples, and may be increased or decreased.

[0080] Although the robot 10 is used in a location including both the FOUP 4 and the processing equipment 5, it may also be used in a location including either the FOUP 4 or the processing equipment 5. That is, the setter 321 may set only either the FOUP model 4m or the processing equipment model 5m. For example, when the robot is used in a sorter, the robot transports substrates between FOUPs. Therefore, the setter sets only the FOUP model. Alternatively, when the robot is used in a vacuum processing chamber, the robot transports substrates between processing equipment 5. Therefore, the setter sets the processing equipment model.

[0081] The housing 2 is provided with a FOUP 4 and a processing device 5, but other spaces may also be provided. For example, when the robot is used in a stocker, the robot transports substrates between the FOUP and a substrate storage room (storage). In this case, the housing is provided with a FOUP and storage. At this time, the setter sets a FOUP model and a storage model.

[0082] The number of interfering objects 6 is not limited to the above example, and may be increased or decreased. Accordingly, the number of interfering object models 6m is not limited to the above example, and may be increased or decreased.

[0083] The housing 2 is provided with a FOUP 4 and a processing device 5, but may also be provided with a pre-alignment device. The pre-alignment device is, for example, a device that detects the center position or notch position of the substrate S and positions the substrate S at a desired position. Accordingly, a pre-alignment device model that models the pre-alignment device may be set as the target position of the hand 14m of the robot model 10m.

[0084] The end effector of the robot 10 is a hand 14, but may also be a mechanical tool such as a cutting tool or a polishing tool.

[0085] The input device of the teaching support system 20 is a mouse 22, but may be a keyboard, or may be both a mouse and a keyboard.

[0086] The processor 32 only needs to have the setter 321, the receiver 322, the deriving unit 323, and the image generator 324 as functional blocks, and does not necessarily have to have the warning unit 325 and the determiner 326 as functional blocks.

[0087] When the derivation unit 323 cannot derive the robot model 10m in the target posture, the warning unit 325 causes the image generator 324 to change the display of the target position, but may also notify the user by a visual or audio warning. Specifically, the warning unit 325 may cause the image generator 324 to display a message on the screen indicating that the robot model 10m in the target posture cannot be derived. Alternatively, the warning unit 325 may output a sound indicating that the robot model 10m in the target posture cannot be derived.

[0088] When the derivation unit 323 cannot derive the robot model 10m in the target posture, the warning unit 325 may cause the image generator 324 to change the display of an image other than the target position from the display when the derivation unit 323 can derive the robot model 10m in the target posture. For example, the warning unit 325 may cause the image generator 324 to change the color or display mode (blinking display, etc.) of the display of the robot model 10m.

[0089] When the robot model 10m and the interfering object model 6m interfere with each other, the warning device 325 causes the image generator 324 to change the display of the robot model 10m, but may also notify the user by a visual or audio warning. Specifically, the warning device 325 may cause the image generator 324 to display a message on the screen indicating that the robot model 10m and the interfering object model 6m will interfere with each other. Alternatively, the warning device 325 may output a sound indicating that the robot model 10m and the interfering object model 6m will interfere with each other.

[0090] When the robot model 10m and the interfering object model 6m are interfering with each other, the warning device 325 may cause the image generator 324 to change the display of images other than the robot model 10m from the display when there is no interference. For example, the warning device 325 may cause the image generator 324 to change the color or display mode (blinking, etc.) of the display of the interfering object model 6m.

[0091] The warning device 325 notifies the user that the derivation device 323 cannot derive the robot model 10m and that the robot model 10m is interfering with the interfering object model 6m, but it may also be configured to notify the user of either one of the two.

[0092] The image generator 324 generates two-dimensional images of each model as shown in FIG. 4 , but may also generate three-dimensional images as shown in FIG. 11 . In FIG. 11 , the same reference numerals as in FIGS. 4 and 7 are used. The processing device model 5m is depicted with a two-dot chain line, and the housing model 2m is omitted. The robot model 10m includes a base 11m that models the base 11. In this case, the position of each model is defined by its three-dimensional position. For example, the receiver 322 receives the three-dimensional position of the target position, the setter 321 sets the three-dimensional position of the target position, and the deriving unit 323 derives the posture of the robot model 10m at the three-dimensional position of the target position.

[0093] The flowchart is merely an example. Steps in the flowchart may be modified, replaced, added, omitted, etc. as appropriate. The order of steps in the flowchart may be changed, and serial processing may be performed in parallel. For example, in the flowchart ( FIG. 5 ), in the initial setting of step S1, the order of setting the chassis model, setting the hoop model, setting the interference object model, and setting the robot model may be changed, or may be performed in parallel. Furthermore, the order of determining the posture of the robot model in step S6 and the determination of interference between the robot model and the interference object model in step S7 may be changed, or may be performed in parallel. Furthermore, at least one of steps S6 and S7 may be omitted.

[0094] The teaching assistance method can be realized by other devices without being limited to the teaching assistance device 30. The teaching assistance program can be realized by other devices without being limited to the teaching assistance device 30.

[0095] The functions performed by the components described herein may be implemented in circuitry or processing circuitry, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), a Central Processing Unit (CPU), conventional circuits, and / or combinations thereof, programmed to perform the described functions. A processor includes transistors and other circuits and is considered a circuit or processing circuit. A processor may also be a programmable processor that executes a program stored in a memory.

[0096] In this specification, a circuit, unit, or means is hardware that is programmed to realize or performs the described functions, which may be any hardware disclosed herein or any hardware known to be programmed to realize or perform the described functions.

[0097] If the hardware is a processor considered to be a type of circuitry, the circuit, means, or unit is a combination of hardware and software used to configure the hardware and / or processor.

[0098] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0099] (Aspect 1) A teaching support device 30 is a teaching support device that displays on a display 21 an image of a model of a robot 10 having an arm 12 and a hand 14 (end effector) connected to the arm 12, and includes a setter 321 that sets a robot model 10m that is a model of the robot 10, a receiver 322 that receives a target position of a hand 14m (end effector) of the robot model 10m, a deriver 323 that derives the posture of the robot model 10m when the hand 14m (end effector) is located at the target position, and an image generator 324 that generates an image of the target position and the robot model 10m, and when the target position is changed via the receiver 322, the image generator 324 generates an image of the changed and moving target position and an image of the robot model 10m whose posture changes to follow the movement of the target position.

[0100] According to this configuration, when the target position is changed via the acceptor 322, the image generator 324 generates an image of the changed and moving target position and an image of the robot model 10m whose posture changes in accordance with the movement of the target position. This allows the user to continuously check the posture of the robot model 10m that changes in accordance with the movement of the target position while watching the display 21 and moving the target position. Therefore, when the target position of the robot model 10m is determined based on the posture of the robot model 10m, the time required to determine the target position of the robot model 10m can be reduced.

[0101] (Aspect 2) The teaching support device 30 described in aspect 1 further includes a warning device 325 that notifies the user that the derivation device 323 cannot derive the robot model 10m when the derivation device 323 cannot derive the robot model 10m in which the hand 14m (end effector) is positioned at the target position.

[0102] According to this configuration, since the warning device 325 is provided, when the user moves the target position and the hand 14m (end effector) does not reach the target position, the user can easily know from the warning device 325 that the derivation device 323 is unable to derive the robot model 10m.

[0103] (Aspect 3) In the teaching support device 30 described in Aspect 1 or Aspect 2, the warning device 325 changes the display of the target position accepted by the acceptor 322 to the image generator 324 when the derivation device 323 cannot derive the robot model 10m in which the hand 14m (end effector) is positioned at the target position.

[0104] According to this configuration, when the deriving device 323 cannot derive the robot model 10m in which the hand 14m (end effector) is located at the target position, the warning device 325 causes the image generator 324 to change the display of the target position accepted by the accepting device 322. This allows the user to easily determine that the deriving device 323 cannot derive the robot model 10m by the change in the display of the target position.

[0105] (Aspect 4) In the teaching support device 30 according to any one of Aspects 1 to 3, the setter 321 sets an interference object model 6m that models the interference object 6, and further includes a determiner 326 that determines interference between the robot model 10m and the interference object model 6m, and an alarm 325 that, when the determiner 326 determines that the robot model 10m and the interference object model 6m are interfering with each other, notifies a user that the robot model 10m is interfering with the interference object model 6m.

[0106] According to this configuration, since the determiner 326 and the warning device 325 are provided, when the user moves the target position and the robot model 10m interferes with the interfering object model 6m, the user can easily know from the warning device 325 that the robot model 10m is interfering with the interfering object model 6m.

[0107] (Aspect 5) In the teaching support device 30 described in any one of Aspects 1 to 4, the warning device 325 changes the display of the robot model 10m on the image generator 324 when the determiner 326 determines that the robot model 10m and the interfering object model 6m are interfering with each other.

[0108] According to this configuration, when the determiner 326 determines that the robot model 10m and the interfering object model 6m are interfering with each other, the warning device 325 causes the image generator 324 to change the display of the robot model 10m. This allows the user to easily determine that the robot model 10m is interfering with the interfering object model 6m by the change in the display of the robot model 10m.

[0109] (Aspect 6) In the teaching support device 30 according to any one of Aspects 1 to 5, the interfering object model 6m is a model of a static or dynamic interfering object 6.

[0110] According to this configuration, the interference model 6m is a model of a static or dynamic interference object 6, so that the user can display the static or dynamic interference object 6 on the display 21 as an image.

[0111] (Aspect 7) In the teaching support device 30 described in any one of Aspects 1 to 6, the robot model 10m is a model of the robot 10 that includes, as the hands 14 (end effectors), a first hand 14a (first end effector) and a second hand 14b (second end effector) connected to the arm 12.

[0112] According to this configuration, the robot model 10m is a model of the robot 10 including the first hand 14a and the second hand 14b, and therefore the robot model 10m is intended for robots 10 with more complex configurations. Even for such complex robots, the time required to determine the target position of the robot model 10m can be reduced.

[0113] (Aspect 8) In the teaching support device 30 according to any one of Aspects 1 to 7, the robot model 10m is a model of a horizontal articulated robot 10 in which the hand 14 (end effector) transports a substrate S.

[0114] According to this configuration, the robot model 10m is a model of a horizontal articulated robot 10 in which the hand 14 transports the substrate S. Even for such a robot, the time required to determine the target position of the robot model 10m can be reduced.

[0115] (Aspect 9) In the teaching support device 30 described in any one of Aspects 1 to 8, the setter 321 sets a housing model 2m that models the housing 2 of the clean room 1, and at least one of a hoop model 4m that models the hoop 4 attached to the housing and a processing device model 5m that models the processing device 5 attached to the housing 2, the target position corresponds to the position of at least one of the hoop model 4m and the processing device model 5m, and the deriving device 323 derives the posture of the robot model 10m within the area of ​​the housing model 2m and at least one of the hoop model 4m and the processing device model 5m.

[0116] With this configuration, the target position corresponds to the position of at least one of the hoop model 4m and the processing device model 5m, and the deriving unit 323 derives the posture of the robot model 10m within the area between the housing model 2m and at least one of the hoop model 4m and the processing device model 5m. This allows the user to check the posture of the robot 10 used in the clean room 1. Therefore, the posture of the robot 10 used in an environment with strict operational restrictions can be checked in a short time.

[0117] (Aspect 10) A teaching support method is a teaching support method for displaying on a display 21 an image of a model of a robot 10 having an arm 12 and a hand 14 (end effector) connected to the arm 12, and includes the steps of: setting a robot model 10m that models the robot 10; receiving a target position of a hand 14m (end effector) of the robot model 10m; deriving the posture of the robot model 10m when the hand 14m (end effector) is located at the target position; generating images of the target position and the robot model 10m; and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model 10m whose posture changes to follow the movement of the target position.

[0118] According to this configuration, when the target position is changed, an image of the changed and moving target position and an image of the robot model 10m whose posture changes in response to the movement of the target position are generated. This allows the user to continuously check the posture of the robot model 10m, which changes in response to the movement of the target position, while watching the display 21. Therefore, when the target position of the robot model 10m is determined based on the posture of the robot model 10m, the time required to determine the target position of the robot model 10m can be reduced.

[0119] (Aspect 11) The teaching support program 311 is a teaching support program that displays on the display 21 an image of a model of a robot 10 having an arm 12 and a hand 14 (end effector) connected to the arm 12, and causes a computer to realize the following functions: a function of setting a robot model 10m that is a model of the robot 10; a function of receiving a target position of a hand 14m (end effector) of the robot model 10m; a function of deriving the posture of the robot model 10m when the hand 14m (end effector) is located at the target position; and a function of generating images of the target position and the robot model 10m, and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model 10m whose posture changes to follow the movement of the target position.

[0120] According to this configuration, when the target position is changed, an image of the changed and moving target position and an image of the robot model 10m whose posture changes in response to the movement of the target position are generated. This allows the user to continuously check the posture of the robot model 10m, which changes in response to the movement of the target position, while watching the display 21. Therefore, when the target position of the robot model 10m is determined based on the posture of the robot model 10m, the time required to determine the target position of the robot model 10m can be reduced.

Claims

1. A teaching support device that displays on a display an image of a model of a robot having an arm and an end effector connected to the arm, comprising: a setter that sets a robot model that models the robot; a receiver that receives a target position of the end effector of the robot model; a deriver that derives the posture of the robot model when the end effector is located at the target position; and an image generator that generates images of the target position and the robot model, wherein when the target position is changed via the receiver, the image generator generates an image of the changed and moving target position and an image of the robot model whose posture changes to follow the movement of the target position.

2. A teaching support device as described in claim 1, further comprising a warning device which notifies a user that the deriver is unable to derive the robot model when the deriver is unable to derive the robot model in which the end effector is positioned at the target position.

3. A teaching support device as described in claim 2, wherein the warning device causes the image generator to change the display of the target position accepted by the acceptor when the deriver is unable to derive the robot model in which the end effector is positioned at the target position.

4. A teaching support device as described in claim 1, wherein the setting device sets an interference object model that models an interference object; the teaching support device further comprises a determiner that determines interference between the robot model and the interference object model; and an alarm that notifies a user that the robot model is interfering with the interference object model when the determiner determines that the robot model and the interference object model are interfering with each other.

5. A teaching support device as described in claim 4, wherein the warning device causes the image generator to change the display of the robot model when the determiner determines that the robot model and the interfering object model are interfering with each other.

6. A teaching support device according to claim 4 or 5, wherein the interference model is a model of a static or dynamic interference object.

7. A teaching support device according to claim 1, wherein the robot model is a model of a robot including, as the end effectors, a first end effector and a second end effector connected to the arm.

8. A teaching support device according to claim 1, wherein the robot model is a model of a horizontal articulated robot whose end effector transports a substrate.

9. A teaching support device as described in claim 1, wherein the setter sets a housing model that models a clean room housing, and at least one of a hoop model that models a hoop attached to the housing and a processing device model that models a processing device attached to the housing, the target position corresponds to a position of at least one of the hoop model and the processing device model, and the deriver derives the posture of the robot model within the area of ​​the housing model and at least one of the hoop model and the processing device model.

10. A teaching support method for displaying on a display an image of a model of a robot having an arm and an end effector connected to the arm, comprising: setting a robot model that models the robot; accepting a target position of the end effector of the robot model; deriving the posture of the robot model when the end effector is located at the target position; generating images of the target position and the robot model, and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model whose posture changes to follow the movement of the target position.

11. A teaching support program that displays on a display an image of a model of a robot having an arm and an end effector connected to the arm, the teaching support program enabling a computer to realize the following functions: setting a robot model that models the robot; accepting a target position of the end effector of the robot model; deriving the posture of the robot model when the end effector is located at the target position; generating images of the target position and the robot model, and, when the target position is changed, generating an image of the changed and moving target position and an image of the robot model whose posture changes in accordance with the movement of the target position.

Images