User interface display device

Abstract

This user interface display device comprises: a storage unit capable of storing an operation program for operating a robot; and a processor. The processor is capable of displaying, on a display device, a plurality of task icons respectively corresponding to a plurality of portions among a series of commands in the operation program so as to be arranged at positions along an operation of the robot based on the operation program.

Description

User interface display device

[0001] The present disclosure relates to a user interface display device.

[0002] Conventionally, in order to simultaneously perform layout settings of a robot system and operation settings of an operation program of a robot, a teaching device of a robot that displays an image diagram of a robot and peripheral devices on a display device and indicates the moving direction of a workpiece with an arrow is known. For example, refer to Patent Document 1. Further, a technique is disclosed in which a user arranges diagrams indicating the movement and grasping of a robot hand on a screen to create an operation program of the robot, and displays the operation program using a process diagram in which descriptions of the work contents of the hand are connected by lines. For example, refer to Patent Document 2.

[0003] Japanese Patent Application Laid-Open No. 2010-207997, Japanese Patent Application Laid-Open No. 2018-176326

[0004] In the process diagram in which descriptions of the work contents of the hand are connected by lines, the horizontal axis indicates the time from the start of work, and the vertical axis indicates the height position of the hand. In such a process table, the user needs to correct the process diagram while confirming the operation state, posture, etc. of the robot by simulation or the like, and it takes time for the user to look at a screen other than the process diagram. It is desirable to further reduce the labor of setting by the user.

[0005] The user interface display device according to the first aspect of the present disclosure includes a storage unit capable of storing an operation program for operating a robot, and a processor. The processor can display a plurality of task icons respectively corresponding to a plurality of parts among a series of commands in the operation program at positions along the operation of the robot based on the operation program on a display device.

[0006] This is a schematic perspective view of a robot system targeted by a user interface display device of one embodiment. This is a block diagram of the robot control device of the robot system targeted by the user interface display device of this embodiment. This is an example of an operation program. This is an example of the display screen of the user interface display device of this embodiment. This is a flowchart of an example of the processor processing of this embodiment. This is an example of the display screen of the user interface display device of this embodiment. This is an example of the display screen of the user interface display device of this embodiment. This is an example of the display screen of the user interface display device of this embodiment. This is a flowchart of an example of the processor processing of this embodiment. This is an example of a modified display screen of the user interface display device of this embodiment.

[0007] A user interface display device according to one embodiment will be described below with reference to the drawings. The robot 10 used in the description of the user interface display device of this embodiment is a vertical articulated type and is equipped with a robot arm 20 having multiple joints, as shown in Figure 1. The robot system in Figure 1 is a system that includes the robot 10 and peripheral equipment.

[0008] The robot arm 20 is equipped with multiple motors 27 to drive each of its joints (Figure 2). Each motor 27 has an operating position detection device for detecting its operating position and operating speed, and the operating position detection device is an encoder, for example. The detected values ​​from the operating position detection device are transmitted to the robot control device 30. The number of arm members may be five or fewer, or seven or more.

[0009] The robot arm 20 is not limited to any particular type. The robot arm 20 may be the arm of a horizontal articulated robot, the arm of a multi-link robot, etc. Furthermore, the robot arm 20 may be supported by a moving device such as a linear guide, an AGV (Automatic Guided Vehicle), a vehicle, a walking robot, etc.

[0010] Furthermore, the robot arm 20 may be a robot arm for a collaborative robot. The collaborative robot has a function to detect contact between the robot arm 20 and people, objects, etc., using known sensors such as force sensors, contact sensors, and vision sensors, and to safely stop the robot arm 20 according to the detection result. In addition, the collaborative robot may have a function to decelerate and stop the robot arm 20 just before it comes into contact with people, objects, etc.

[0011] As shown in Figure 1, a tool 40 is attached to the robot arm 20, and the coordinate system 40A of the tool 40 and the coordinate system 20A of the robot arm 20 are associated within the robot control device 30. In this embodiment, the origin of the coordinate system 40A is fixed to the tool center point 40B, and the orientation of the coordinate system 40A is also fixed to the tool 40. Therefore, the position and orientation of the coordinate system 40A change with the position and orientation of the tool 40. The origin of the coordinate system 40A may be fixed to another position.

[0012] In this embodiment, as shown in Figures 1 and 2, the tool 40 is a hand comprising a plurality of claw members 41 and a motor 42 for driving the claw members 41. Various known motors such as servo motors can be used as motors 27 and 42. In recent years, hands that softly grasp with flexible fingers have become popular, and such a hand is also an example of the tool 40. In such a hand, the processor 31 controls an air supply device having a pump and valve instead of the motor 42, thereby moving the fingers. In this embodiment, the tool 40 is attached to the furthest arm member of the robot arm 20, but the tool 40 may be attached to other parts of the robot arm 20.

[0013] In this embodiment, the motor 42 allows multiple claw members 41 to move in the opening and closing directions. The tool 40 in this embodiment may be referred to as a hand, and can hold a workpiece W at a first position and transport it to a second position using the multiple claw members 41. In this embodiment, the conveyor 201 in Figure 1 is the first position, and the pallet 202 is the second position. The robot arm 20 and tool 40 may perform tasks such as transporting the workpiece W from the first position to the second position, independently of the conveyor 201 and pallet 202, or they may lift the workpiece W from the first position and hold it in a predetermined position and orientation for processing, or they may perform other tasks.

[0014] The tool 40 may be any other type of tool that can hold the workpiece W and transport it to any desired position. For example, the tool 40 may be a tool that uses air suction, magnetism, or the like to attract the workpiece W, and in this case as well, the effects described later can be achieved.

[0015] The robot control device 30 that controls the robot arm 20 includes, as shown in Figure 2, a processor 31 such as a CPU, a known display device 32 such as a liquid crystal display device, and a storage unit 33 having non-volatile storage, RAM, etc. Examples of non-volatile storage include hard disks, flash memory, ROM, etc. In some cases, the CPU's memory functions as part of the storage unit 33.

[0016] In this embodiment, the robot control device 30 is a computer as described above, but the robot control device 30 may also consist of other devices with equivalent functions. Other control devices such as a PLC may be connected to the robot control device 30. In this case, the processor, display device, storage unit, and input device of the other control device may function as part or all of the processor 31, display device 32, storage unit 33, and input device 34 described above.

[0017] The robot control device 30 includes an input device 34 which includes at least one of a keyboard, touch panel, control panel, or computer input unit, and a transmitting / receiving unit 35 for transmitting and receiving signals. The robot control device 30 also includes a servo controller 36 connected to each motor 27 and a servo controller 37 connected to motor 42.

[0018] The robot control device 30 includes a teaching operator 50. The teaching operator 50 is a portable device, such as a teach pendant, and the input section of the teaching operator 50 functions as part of the input device 34. When the input device 34 is an input panel, the teaching operator 50, or a computer, the input device 34 includes a known display device 34A, such as a liquid crystal display, and the display device 34A may perform some or all of the functions of the display device 32. In this embodiment, the processor and memory unit of the input device 34, such as a CPU, are described as part or all of the processor 31 and memory unit 33. In other words, the processing of the processor 31 described below may be processed by the processor of the teaching operator 50, which is the input device 34. The computer is a known computer such as a tablet computer, laptop computer, or desktop computer. The computer may be a computer for creating an offline operation program 33B or for simulating the robot arm 20. In addition to the input device 34, the transmitting and receiving unit 35 may also function as an input unit. The memory unit 33 stores the system program 33A, the operation program 33B, etc., and the processor 31 controls the motors 27 and 42 based on the operation program 33B and operation signals from the input device 34.

[0019] In this embodiment, as an example, the processor 31 of the robot control device 30 causes the robot arm 20 and tool 40 to perform the tasks of holding the workpiece W on the conveyor 201, moving the workpiece W onto the pallet 202, and releasing the workpiece W on the pallet 202, based on the operation program 33B. A sensor 203 such as a camera may be provided, and the processor 31 may detect the position of the workpiece W on the conveyor 201 based on the output of the sensor 203, and the aforementioned task of holding the workpiece W may be performed using the result of this detection.

[0020] To have the robot arm 20 and tool 40 perform the aforementioned tasks, the user sets an operation program 33B. For example, an operation program 33B as shown in Figure 3 is set. Position and orientation [1] to position and orientation [4] are the taught position and orientation of a predetermined position of the tool 40 (e.g., the tool center point), and are the position and orientation of the tool 40 in the coordinate system 40A. In the operation program 33B in Figure 3, the images of the series of commands numbered 1 to n are simplified for the purpose of explaining this embodiment, but in reality, detailed conditions and settings are often set in a programming language for each numbered command.

[0021] For example, position and orientation [1] for setting the approach direction is set above the conveyor, and position and orientation [2] is set directly below it, position and orientation [3] for setting the approach direction is set above the pallet 202, and position and orientation [4] is set directly below it (Figures 3 and 4). In the example of the operation program 33B in Figure 3, the processor 31 operates the robot arm 20 based on command number 2 so that the coordinate system 40A becomes position and orientation [1]. Then, the processor 31 operates the robot arm 20 based on command number 3 so that the coordinate system 40A becomes position and orientation [2]. Position and orientation [2] is the position and orientation of the tool 40 for holding the workpiece W.

[0022] Then, the processor 31 drives the motor 42 of the tool 40 based on command number 4. This drive causes the multiple claw members 41 to move in the closing direction, and the workpiece W is held by the multiple claw members 41. Next, the processor 31 operates the robot arm 20 based on command number 5 so that the coordinate system 40A is in position and orientation [3].

[0023] Next, the processor 31 operates the robot arm 20 based on command number 6 so that the coordinate system 40A is in position and orientation [4], and then drives the motor 42 of the tool 40 based on command number 7. This drive causes the multiple claw members 41 to move in the opening direction, releasing the hold of the workpiece W by the multiple claw members 41, and the workpiece W is placed on the pallet 202.

[0024] Figure 4 shows an example of a display screen 60 displayed on the display device 32 or the display device 34A. In this embodiment, the processor of the teaching operator 50 performs the following processing as processor 31, but other processors or processor 31 may perform the following processing. Processor 31 displays the display screen 60 of Figure 4 and the operation program 33B of Figure 3 on the display device 34A of the teaching operator 50. The display screen 60 of Figure 4 displays the arm model 20M corresponding to the robot arm 20 and the tool model 40M corresponding to the tool 40. The display screen 60 of Figure 4 also displays peripheral equipment models 201M, 202M, and 203M corresponding to peripheral equipment such as the conveyor 201, pallet 202, and sensor 203, and the work model WM corresponding to the work W. Other models may also be displayed on the display screen 60, and it is possible that not all or all peripheral equipment models or the work W model are displayed. Furthermore, the processor 31 can display the trajectory 61 of the tip of the robot 10 or the tool 40 moving according to the position and orientation [1] to position and orientation [4] on the display screen 60, but the trajectory 61 may not be displayed depending on the requirements.

[0025] Furthermore, the processor 31 displays task icons 71 to 73 on the display screen 60 in Figure 4. The processing of the processor 31 in this case will be explained with reference to the flowchart in Figure 5.

[0026] The processor 31 stores tool information such as the type, size, and function of the tool 40 in the storage unit 33 based on input from the user using the input device 34 (step S1-1). The tool information may also be input from an external computer or the like via the transmission / reception unit 35, or the processor in the tool 40 may transmit the tool information to the robot control device 30. By obtaining tool information in this way, the accuracy of task recognition described later is improved.

[0027] Next, the processor 31 recognizes the tasks of the tool 40 in the operation program 33B based on the task recognition program 33C stored in the memory unit 33 (step S1-2). The meaning of the recognition by the processor 31 includes judgment, determination, extraction, etc., and the same applies in the following explanation. In one example, after the processor 31 recognizes the contents of the operation program 33B as in step S1-2, the processor 31 may save a plurality of tasks (a collection of tasks) corresponding to the operation program 33B, as described later, in the memory unit 33.

[0028] As an example of the processing in step S1-2, the processor 31 recognizes, for example, the commands numbered 4 and 7 in Figure 3 as task commands. More specifically, the processor 31 recognizes the command numbered 4 as a task command relating to the action of tool 40 holding workpiece W, and the command numbered 7 as a task command relating to the action of tool 40 releasing workpiece W. The processor 31 may also use simulation or the like to recognize whether it is an action of holding or releasing. In this embodiment, as described above, the processor 31 recognizes commands that move the tool 40 itself for the workpiece (workpiece W) as task commands. Alternatively, the processor 31 recognizes commands that cause movement in the tool 40 itself as task commands that make the tool 40 work. Note that it is also possible that only some, not all, of the commands that move the tool 40 itself for the workpiece (workpiece W) are recognized as task commands.

[0029] In this embodiment, the processor 31 recognizes commands number 5 and 6 as task commands. Commands number 5 and 6 do not cause movement in the tool 40 itself, but they are commands for the robot arm 20 to move the workpiece W held by the tool 40 to the position and orientation of number 6. Thus, commands that move the tool 40 by the robot arm 20 while the tool 40 is working on the workpiece W are also recognized as task commands. As described above, in this embodiment, the processor 31 recognizes commands related to the operation of the tool 40 as task commands.

[0030] In some cases, the processor 31 may be configured to simulate the operation program 33B based on a simulation program stored in the memory unit 33. In this case, the processor 31 may use the simulation results to recognize commands number 5 and 6, and commands number 4 and 7, as task commands. This configuration is useful for recognizing commands that do not operate the tool 40 itself, such as commands number 5 and 6, as task commands.

[0031] Furthermore, in the operation program 33B of Figure 3, commands 2 to 7 may be executed again after the completion of command 7. In this embodiment, the processor 31 recognizes commands 2 and 3 as movement commands for the robot arm 20 to move the tool 40, and does not recognize them as task commands related to the operation of the tool 40. It is also possible to implement a modified version in which, for commands 2 and 3 that move the tool 40 when the tool 40 is not in operation, the processor 31 assigns an icon indicating that the tool 40 is not in operation and displays it on the display screen 60.

[0032] In one example, the processor 31 recognizes each of the multiple task commands recognized as described above as a task of tool 40. For example, based on the task recognition program 33C, the processor 31 recognizes that task command number 4 is task T1, task commands number 5 and 6 or task commands number 4 to 6 are task T2, and task command number 7 is task T3 (Figure 3). Alternatively, the processor 31 may recognize a set of commands containing at least one task command as one task of tool 40. For example, the processor 31 recognizes that commands number 2 to 4 are one task T4 of tool 40, and commands number 4 to 6 are another task T5 of the tool (Figure 3). When multiple tasks are recognized in this way, some of the commands of adjacent tasks may overlap. The processor 31 can also perform such task recognition based on the results of the simulation described above. In such cases, it may not be necessary to determine whether each command is a task command or not. Furthermore, task recognition using simulation is often more accurate than task recognition without simulation, especially in cases of complex operational programs like the 33B. In addition, the processor 31 may recognize the task of the tool 40 based at least on the simulation results and the types of peripheral devices in the simulation.

[0033] Following step S1-1, the processor 31 assigns icons to each task T1 to T5 based on the icon assignment program 33D stored in the memory unit 33 (step S1-3). For the purpose of the icon assignment, icon assignment data 33E may be stored in the memory unit 33 as shown in Figure 2. An example of icon assignment data 33E is table-formatted data that associates tasks with task icons, as shown in Figure 6, but other data that can assign icons to tasks may also be used. When the processor 31 recognizes a task corresponding to the "Task Type" column in step S1-2, it assigns the corresponding task icon from the table to that task.

[0034] In this embodiment, when a user makes a predetermined input to the input device 34, the processor 31 causes the display device 32 or the display device 34A to display the display screen 70 shown in Figure 6. The display screen 70 is a screen that displays the table-formatted data described above. As shown in Figure 6, the display screen 70 may be configured so that the user can add any task to the "Task Type" column using the input device 34, etc. In the case of Figure 6, when the user selects any task from the pull-down list, the selected task is set as one of the task types.

[0035] In this case, the processor 31 may automatically set the task icon corresponding to the set task. For example, the memory unit 33 stores data for various task icons and their parts, which are icon parts, other than those shown in Figure 6, and the processor 31 can use this to automatically set the task icon. Examples of icon parts are the claw icon, base icon, and other icon parts 74 and 75 shown in Figure 6. In this embodiment, it is preferable that the task icons 71 to 73 and their icon parts 74 and 75 are not diagrams that accurately represent the shape of the tool 40 or the shape of its parts, but rather simple image diagrams that show at least the type of tool 40 and the task (work). For this reason, the task icons 71 to 73 in this embodiment can be said to be icons, not diagrams of the tool 40 or the workpiece W. The task icons in this embodiment are more useful to the user than diagrams that accurately represent the shape of the tool 40 or the shape of its parts. For example, by looking at the task icons in this embodiment, the user can quickly determine what task (work) the task icon represents. Examples of the types of tool 40 include a hand for gripping objects such as the workpiece W, a suction tool for holding objects such as the workpiece W by suction, a spot welding tool, an arc welding tool, a laser processing tool, etc. The types of tools 40 may include application tools for applying sealants, paints, etc., processing tools for performing machining using cutting tools, cleaning tools, sensors, etc.

[0036] In some cases, the memory unit 33 may not contain data for task icons or icon parts. Even in this case, the processor 31 can automatically set task icons corresponding to the configured tasks by using an artificial intelligence system or the like. It is also possible that the system may be configured to allow the user to enter an arbitrary string in the "Task Type" column. In this case, the processor 31 can recognize the task corresponding to the entered string by using an artificial intelligence system or the like.

[0037] In Figure 6, instead of the processor 31 setting the task icon corresponding to the configured task as described above, a configuration may be adopted in which the user can set any task icon in the "Task Icon Setting" column using an input device 34 or the like. In the case of Figure 6, when the user selects any task icon from the pull-down list, the selected task icon is set for the corresponding task.

[0038] It is also possible that the user may directly input the command into the "Task Type" column in Figure 6. For example, in an operating program 33B as shown in Figure 3, some commands may represent the task itself, or the contents of the task may be written in notes or other means on some of the commands. Alternatively, the correspondence between commands and tasks may be set in advance by the user. In these cases, it is possible to set the command itself into the "Task Type" column as described above, and commands and task icons will be linked in at least a part of the table in Figure 6. Even in this case, if there is a command in the series of commands that has the aforementioned linkage, the processor 31 can assign a task icon corresponding to that command.

[0039] In this embodiment, as shown in Figure 6, the user can set task icons that are not displayed on the display screen 60. When the user checks the checkbox (selection means) 71 of any task icon on the display screen 70, the checked icon may be displayed on the display screen 60, but the unchecked icon will not be displayed on the display screen 60. This configuration allows for customization of the visibility of tasks (work), which helps the user to easily and / or quickly grasp the tasks of the robot 10 and tool 40.

[0040] The processor 31 displays the task icons 71 to 73 assigned in step S1-3 on the display device 32 or display device 34A (step S1-4). In one example, as shown in Figure 4, the task icons 71 to 73 are displayed on the display screen 60 such that each of the task icons 71 to 73 is placed in its corresponding display position. For example, if task icon 71 corresponds to task T1, the display position will be the position of the tool 40 after being moved by the command number 3 immediately preceding it. For task T2, the display position will be the position of the tool 40 moved by either command number 5 or number 6. The processor 31 may determine the display position of each task icon 71 to 73 in any other way. In this way, the processor 31 obtains the operating positions of the tools 40 corresponding to tasks T1, T2, and T3 from the operating program 33B, based on the operating program 33B in which the positions of the tools 40 are taught, and sets these operating positions as the display positions of the task icons 71 to 73. Alternatively, the processor 31 may use kinematics or the like to calculate the position of the tool 40 or the tip of the robot arm 20, and the resulting operating position of the tool 40 or the tip may be used as the display position for the task icons 71 to 73.

[0041] In addition, for tasks T1 and T3, the processor 31 may determine the display position to be slightly offset from the position of the tool 40 moved by the previous commands numbered 3 and 6. If the amount of this offset is 1.5 times or less, preferably 1 time or less, the diameter or longest side length of the task icons 71 and 73, the task icons 71 and 73 will be positioned on the display screen 60 in accordance with the movement of the robot 10.

[0042] Since the diagrams of task icons 71 to 73 are simple, there is little need to display task icons 71 to 73 in a large size. For this reason, the numerical value of the displacement amount can be suitably used to position task icons 71 to 73 in accordance with the movement of the robot 10. If the task icons 71 to 73 appear to be positioned in accordance with the movement of the robot 10 on the display screen 60, then even if the positioning exceeds the numerical value of the displacement amount, the same effect as in this embodiment will be achieved. In Figure 4, a trajectory 61 indicating the movement of the robot 10 is shown, and task icons 71 to 73 are positioned along the trajectory 61. Alternatively, the trajectory 61 may not be displayed on the display screen 60, and lines, arrows, afterimages, etc., that show an outline of the movement of the robot 10 may be displayed, or the trajectory 61, lines, arrows, afterimages, etc. may not be displayed at all.

[0043] As described above, the configuration in which task icons 71 to 73 are positioned in accordance with the movement of the robot 10 contributes to the user's easy and / or rapid understanding of the tasks of the robot 10 and the tool 40. In this way, the user can confirm the movement of the robot 10 based on the motion program 33B on a task basis, making it possible to set the movement of the robot 10 and the layout around the robot 10 more intuitively. In contrast, conventional simulation programs move the arm model 20M corresponding to the robot arm 20 and the tool model 40M corresponding to the tool 40 on the screen according to a series of commands based on the motion program 33B. Such functions are useful for accurately understanding the movements of the robot arm 20 and the tool 40 based on the motion program 33B. However, in the case of such simulation programs, the user must continuously watch the robot 10 and the tool 40 on the screen as they move over time in order to understand the movement and tasks of the robot 10, which is not suitable for short-term confirmation. Also, the processing of the simulation program may take time.

[0044] Also, when the display device 32 is small, its movement may not be clearly visible. Also, simulation programs are expensive, and it is not practical to install them in all robot control devices 30, teaching operation devices 50, etc. In the configuration where the task icons 71 to 73 are arranged at positions along the movement of the robot 10 as in the present embodiment, the user can effectively confirm the tasks as described above even when the display device 32 is small. Also, even for robot control devices 30, teaching operation devices 50, etc. that are already installed in a factory or the like, a configuration, programs 33C, 33D, data 33E, etc. for arranging the task icons 71 to 73 at positions along the movement of the robot 10 as described above can be added relatively inexpensively. This configuration helps to confirm and set the operation program 33B, especially in robot control devices 30, teaching operation devices 50, etc. where the simulation program is not installed. Also, the task icons 71 to 73 are displayed at positions along the movement of the robot 10, and a diagram of the peripheral device is also displayed around them. This configuration is useful when the user performs operation settings of the robot 10 considering the peripheral devices as well.

[0045] Also, in robot control devices 30, teaching operation devices 50, computers, etc. that already have functions such as displaying models of the robot 10, tool 40, workpiece W, conveyor (peripheral device) 201, pallet (peripheral device) 202, etc., and simulation programs, the effects of the present embodiment are useful as described above.

[0046] Further, in a robot control device 30, a teaching operation device 50, a computer, etc. that display models of the robot 10, the tool 40, etc. on the display screen 60, the user may perform a zoom-in operation or a zoom-out operation. For example, when various peripheral devices and models of a plurality of robots 10 are displayed on the display screen 60, the zoom-in operation and the zoom-out operation are useful. The user performs the operation using the input device 34. For example, the user performs a zoom-in operation to enlarge the periphery of the robot 10 or the tool 40 of interest in the display screen 60. Further, when the user wants to see the overall arrangement of a plurality of robots 10 and peripheral devices, the user performs a zoom-out operation. When the task icons 71 to 73, etc. are displayed on the display screen 60 as described above after such a zoom-in operation or after a zoom-out operation, the user can easily and / or quickly grasp the tasks (operations) of each robot 10 together with the overall arrangement.

[0047] Preferably, when the user performs a zoom-out operation on the display screen, the processor 31 performs a process of reducing the number of task icons 71 to 73 displayed on the display screen 60 in response to the operation. An example of the state before the process is a state in which the task icons 71 to 73 are displayed at positions along the operation of the robot 10 as shown in FIG. 4. In this state, when a zoom-out operation is performed, for example, the processor 31 makes the task icons 71 and 73 non-displayed and displays only the task icon 72. The configuration can prevent the display screen 60 from becoming cluttered while enabling easy and / or quick grasping of the tasks (operations) of each robot 10 and each tool 40 on the display screen 60 after zooming out.

[0048] Note that when the processor 31 first displays the task icons 71 to 73 in step S1-4, the processor 31 may display the task icons 71 to 73 smaller than those shown in FIG. 4. In this case, the processor 31 can also display only, for example, the task icon 72 designated by the user on the display screen 60 in a larger size. The designation is made, for example, by the user selecting the task icon 72 on the display screen 60 by tapping, long-pressing, etc. using the touch screen function.

[0049] Furthermore, the display screen 70 in Figure 6 may be a screen in which the user can set the display priority of each task icon. This configuration allows for customization of the visibility of tasks (work), which helps the user easily and / or quickly grasp the tasks of the robot 10 and tool 40.

[0050] In addition, the processor 31 may display multiple task icons 71 to 73 on the display screen 60 in the order of their operations. In this case, it is possible that multiple task icons 71 to 73 may not be displayed on the display screen 60 simultaneously, but as a result, multiple task icons 71 to 73 will be displayed on the display screen 60 in positions corresponding to the operation of the robot 10.

[0051] In this embodiment, the processor 31 assigns task icons 71 to 73 to each of the tasks T1 to T3 of the plurality of commands, based at least on the contents of each of the plurality of commands and the tool information of the tool 40. In this configuration, since not only the contents of the operation program 33B but also the tool information is used for task assignment, the assignment by the processor 31 is performed more accurately.

[0052] It is also possible that steps S1-2 and beyond may be performed without performing step S1-1. Even in this case, the processor can assign task icons 71 to 73 based on the contents of each of the aforementioned parts. This configuration makes it possible for the user to efficiently understand the tasks (work) of tool 40 while saving the user the trouble of inputting tool information.

[0053] In this embodiment, the processor 31 may also perform a simulation of the operation of the robot 10 and tool 40 using the operation program 33B as described above. In this case, the processor 31 recognizes multiple tasks corresponding to multiple parts of the series of commands based on the simulation results. The meaning of this recognition includes judgment, determination, extraction, etc., as described above. The processor 31 then assigns task icons 71 to 73 corresponding to each of the multiple parts based on the recognized tasks. This configuration is useful for accurately performing the assignment by the processor 31.

[0054] Furthermore, the user may change, for example, the task icon 72 on the display screen 60 of Figure 4 by performing a predetermined operation on the input device 34. This configuration allows the user to change task icons 71 to 73. For example, on the display screen 60 displayed on the display device 34A having a touchscreen function, if the user performs a predetermined operation such as double-clicking on the task icon 72 that they want to change, the display screen 70 of Figure 6 will be displayed. On the display screen 70, the user can change the image of the task icon 72, change it to another icon, change the content of the corresponding "task type", and so on, and the changed task icon 72 will be displayed on the display screen 60. For example, the task icon 72 in Figures 4 and 6 has an image of the tool 40 holding the workpiece W, but the user can change this image by inputting into the input device 34. For example, it is possible to change the image to only an image of the workpiece W, to add other images to the image, or to change the image to a completely different image. Furthermore, the processor 31 stores the task icon assigned by the processor 31 or the task icon modified by the user in the memory unit 33, associating it with the corresponding task. This configuration simplifies the process of assigning the next task icon and improves the accuracy of the assignment.

[0055] In this embodiment, as described above, for example, multiple task icons 71, 72, and 73 corresponding to tasks T1, T2, and T3 of the operation program 33B are placed at operation positions obtained from the operation program 33B, etc. With this configuration, the user can understand the tasks performed at the positions of the task icons 71, 72, and 73, and can at least roughly understand the position of the tool 40 when the task is performed, and in some cases can accurately understand the position. This contributes to making it easier for the user to judge whether the task position is appropriate. Furthermore, if multiple robots 10 are arranged and layout settings are required along with the operation settings of the robots 10, this also contributes to making it easier for the user to judge whether the layout settings are appropriate.

[0056] For example, as shown in Figure 4, a triad diagram (icon diagram) representing the X, Y, and Z axes may be displayed as part of the task icon 71, and the orientation of the triad diagram may change according to the orientation of the coordinate system 40A of the tool 40. The processor 31 places the triad diagram of the task icon 71 corresponding to the part of task T2 of the operation program 33B, for example, in the operation orientation obtained by the processor 31 from the operation program 33B. The processor 31 may display a plurality of task icons 72 between position orientation [2] and position orientation [3], and the triad of each task icon 72 may be placed in the operation orientation of that position. Such task icons 71 can indicate the orientation of the tool 40 and the rotational movement of the tool 40. In other words, by having a triad diagram in the task icon 71, the user can grasp not only the task (work) of the tool 40 but also its orientation, which contributes to facilitating the user's setting up and / or layout of the robot 10.

[0057] Furthermore, as shown in Figure 6, a task icon 76 is set that indicates the change in the rotational position of the tool 40 and the orientation of the tool 40, and the processor 31 may assign such a task icon instead of task icons 71 to 73. The processor 31 may also generate task icon 76 by projecting a 3D model for the tool 40 icon stored in the memory unit 33. As shown in Figure 7, the processor 31 may also assign a task icon 72' which has an arrow icon diagram indicating the change in the orientation of the tool 40. In these cases as well, the user can understand not only the task (work) of the tool 40 but also its orientation, which contributes to facilitating the user's setup and / or layout of the robot 10.

[0058] Furthermore, as shown in Figure 8, the task icons 77-79 may be diagrams that allow the user to view the image behind a diagram through part or all of the diagram corresponding to the tool 40. In the example in Figure 8, the diagrams corresponding to the tool 40 for task icons 77-79 are line diagrams. This configuration allows the user to understand the tasks of the robot 10 as described above, and also makes it easier to understand the layout of the robot 10 and peripheral equipment.

[0059] Furthermore, the task icons 77-79 shown in Figure 8 have arrows that represent the movement of the tool 40. This configuration helps the user understand the tasks. Such arrows may also be included in the task icons in Figures 4, 6, and 7.

[0060] In each of the above embodiments, the processor 31 may, for example, move the task icon 71 based on user input to the input device 34, and the processor 31 may change the corresponding command corresponding to the display position of the target task icon 71. The processing of the processor 31 in this case will be explained with reference to the flowchart in Figure 9.

[0061] First, for example, when a user moves the task icon 71 on the display device 34A of the teaching operator 50 to an arbitrary position by dragging, keying, etc., the processor 31 accepts the movement input (step S2-1). In this example, the command that determines the position of the task icon 71 in the operation program 33B of Figure 3 is the position orientation [2] numbered 3 as described above, and this command becomes the corresponding command.

[0062] The processor 31 modifies the X, Y, and Z coordinate values ​​of the position and orientation [2] (corresponding command) according to the position of the task icon 71 on the screen after it has been moved (step S2-2). Then, the processor 31 stores the operation program 33B with the modified position and orientation [2] in the storage unit 33 (step S2-3).

[0063] The positions of the task icon 71 on the screen before and after the movement are predetermined positions, such as the center position of the task icon 71. In one example, the processor 31 calculates in which direction and by how much the center position has moved on the display screen 60. In another example, the processor 31 determines the center position after the movement on the display screen 60. If the display screen 60 is a screen that places the aforementioned arm model 20M, etc., in three-dimensional space, the processor 31 can also accurately determine the center position after the movement. The user can change the operation program 33B by moving the position of the task icon 71 on the display screen 60, which contributes to facilitating the user's setting and / or layout of the robot 10. In one example, on the display screen 60, the processor 31 displays the task icon 71 before the change at the operation position obtained from the command of the operation program 33B as described above. The task icon 71 after the change is also placed at its operation position on the display screen 60. In this configuration, changes to the operation program 33B are more likely to accurately conform to the user's intentions.

[0064] Before step S2-2, the processor 31 may display a screen on the display device 32, display device 34A, etc., for changing the corresponding command. For example, before step S2-2, the processor 31 displays a screen on the display device 34A for the user to set the values ​​of each coordinate of the changed position and orientation [2]. This configuration is useful when the user wants to adjust the content of the changed corresponding command, or when the user wants to further improve the accuracy of the content of the changed corresponding command.

[0065] In each of the above embodiments, when a user selects a target task icon 71 by performing a predetermined operation such as long-pressing, the processor 31 may display a screen on the display device 32, display device 34A, etc., for changing the corresponding command. For example, the processor 31 displays a screen on the display device 34A that allows the user to change the values ​​of each of the coordinates of the position and orientation [2]. The user can change the operation program 33B by performing the predetermined operation on the task icon 71, which contributes to facilitating the user's setting up and / or layout of the robot 10.

[0066] Furthermore, if the tool 40 is an arc welding tool, laser processing tool, coating tool, spot welding tool, cleaning tool, etc., the processor 31 may display a display screen 60 having task icons 81 and 82 on the display device 34A, etc., as shown in Figure 10, for example. In the example shown in Figure 10, task icon 81 shows the tool 40 emitting cleaning agent, arc, laser, etc. toward the work model WM, and task icon 82 shows the tool 40 stopping or having stopped emitting cleaning agent, arc, laser, etc. In other words, in the operation program 33B, the command corresponding to task icon 81 is a command to continue or start the injection of arc, laser, etc. Also, in the operation program 33B, the command corresponding to task icon 82 is a command to stop the injection of arc, laser, etc. In this way, if the task icons 81 and 82 include diagrams showing the tool 40 emitting arc, laser, sealant, paint, cleaning liquid, current, etc., the user can easily and / or quickly grasp the tasks of the robot 10 and the tool 40. Furthermore, if the tool is a sensor such as a camera, including a diagram in its task icon that shows whether the tool is operational or inactive allows the user to easily and / or quickly understand the tasks of tool 40.

[0067] Task icons 71 and 73 have an image of tool 40, and task icon 72 has an image of tool 40 and an image of workpiece W. However, task icons 71 to 73 may also have other images. For example, task icon 71 may have an image of a peripheral device, conveyor 201. In this case, such a task icon 71 is set on the display screen 70 in Figure 6. By displaying task icons 71 that have an image of peripheral devices along with an image of tool 40 on the display screen 60 in this way, it may be easier for the user to understand the task.

[0068] As described above, the user interface display device in this embodiment is a robot control device 30 having a teaching operator 50. Alternatively, the user interface display device may be a robot control device 30 without a teaching operator 50, or it may be a teaching operator 50. Or, the user interface display device may be a simulation device. In these cases as well, as long as it has the processor 31, the storage unit 33, the display devices 32, 34A, the input device 34, etc., it will have the same effects as described above. Furthermore, in each of the above embodiments, the tip of the robot arm 20 may be configured to perform the work itself, and the tool 40 may not be attached to the robot arm 20. Even in this case, the processor 31 can display task icons in the same position as described above, in accordance with the operation of the robot 10 based on the operation program, and the same effects as described above can be achieved.

[0069] While embodiments of this disclosure have been described in detail, this disclosure is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the idea and intent of this disclosure derived from the claims and their equivalents. For example, in the embodiments described above, some configurations or steps can be omitted or added depending on the circumstances, without being bound by the above examples. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments above.

[0070] [Note 1] A user interface display device comprising: a storage unit capable of storing an operation program for operating a robot; and a processor, wherein the processor is capable of displaying a plurality of task icons on a display device such that they are positioned in accordance with the operation of the robot based on the operation program, each corresponding to a plurality of parts of a series of commands in the operation program. [Note 2] The user interface display device according to Note 1, wherein the processor performs an icon assignment process to assign the plurality of task icons based at least on the contents of each of the plurality of parts of the operation program. [Note 3] The user interface display device according to Note 2, wherein the processor is configured to perform the assignment of the plurality of task icons in the icon assignment process based at least on the contents of each of the plurality of parts and tool information relating to a tool attached to the robot. [Note 4] The user interface display device according to Note 2, wherein the processor performs a simulation of the operation of the robot and a tool attached to the robot using the operation program, recognizes a plurality of tasks corresponding to each of the plurality of parts based on the results of the simulation, and the processor is configured to perform the assignment of the plurality of task icons based at least on the plurality of tasks. [Note 5] The processor is configured to obtain an operating position for each of the plurality of parts, which is the position of the tip of the robot or the position of a tool attached to the robot, and the processor displays the plurality of task icons corresponding to each of the plurality of parts on the display device so as to be placed at the operating position, as described in Note 1 or 2. [Note 6] The processor is configured to obtain posture information for at least one of the plurality of parts, which is the posture of the tip of the robot or the posture of a tool attached to the robot, and the processor is capable of assigning an icon diagram corresponding to the posture information to the corresponding task icon in the icon assignment process, as described in any of Notes 2 to 4.[Note 7] The user interface display device according to any one of Notes 1 to 4, wherein the processor, upon receiving input to change the display position of a target task icon among the plurality of task icons, modifies the corresponding command in the series of commands of the operation program that corresponds to the target task icon, at least based on the change in the position of the target task icon, and stores the operation program with the modification reflected in the storage unit. [Note 8] The user interface display device according to any one of Notes 1 to 4, wherein the processor, upon receiving input to change the display position of a target task icon among the plurality of task icons, displays a screen on the display device for changing the corresponding command corresponding to the display position of the target task icon. [Note 9] The user interface display device according to any one of Notes 1 to 4, wherein the processor, upon receiving a predetermined operation by a user on a target task icon among the plurality of task icons, displays a screen on the display device for changing the corresponding command corresponding to the target task icon.

[0071] 10: Robot 20: Robot arm 20M: Arm model 30: Robot control device 31: Processor 32: Display device 33: Memory unit 33B: Operation program 33C: Task recognition program 33D: Icon assignment program 33E: Icon assignment data 34: Input device 34A: Display device 40: Tool 40A: Coordinate system 40M: Tool model 41: Claw member 42: Motor 50: Teaching operator 60, 70: Display screen 61: Trajectory 71-79, 81, 82: Task icon 201M: Peripheral device model 202M: Peripheral device model T1-T5: Task W: Work WM: Work model

Claims

1. A user interface display device comprising a storage unit capable of storing an operation program for operating a robot, and a processor, wherein the processor is capable of displaying a plurality of task icons on a display device such that each of the plurality of task icons corresponding to a plurality of parts of a series of commands in the operation program are positioned in accordance with the operation of the robot based on the operation program.

2. The user interface display device according to claim 1, wherein the processor performs an icon assignment process that assigns the plurality of task icons based at least on the contents of each of the plurality of parts of the operation program.

3. The user interface display device according to claim 2, wherein the processor is configured to perform the assignment of the plurality of task icons in the icon assignment process based at least on the contents of each of the plurality of parts and tool information relating to a tool attached to the robot.

4. The user interface display device according to claim 2, wherein the processor is configured to perform a simulation of the robot's operation and a tool attached to the robot using the operation program, recognize a plurality of tasks corresponding to each of the plurality of parts based on the results of the simulation, and assign the plurality of task icons based at least on the plurality of tasks.

5. The user interface display device according to claim 1 or 2, wherein the processor is configured to obtain an operating position for each of the plurality of parts, which is the position of the tip of the robot or the position of a tool attached to the robot, and the processor displays the plurality of task icons corresponding to each of the plurality of parts on the display device so as to be placed at the operating position.

6. The user interface display device according to any one of claims 2 to 4, wherein the processor is configured to obtain posture information indicating the posture of the tip of the robot or the posture of a tool attached to the robot for at least one of the plurality of parts, and the processor is capable of assigning an icon diagram corresponding to the posture information to a corresponding task icon in the icon assignment process.

7. The user interface display device according to any one of claims 1 to 4, wherein the processor, upon receiving an input to change the display position of a target task icon among the plurality of task icons, modifies the corresponding command among the series of commands of the operation program that corresponds to the target task icon, at least based on the change in the position of the target task icon, and stores the operation program with the modification reflected in the storage unit.

8. The user interface display device according to any one of claims 1 to 4, wherein the processor is configured to display a screen on the display device for changing the corresponding command corresponding to the display position of the target task icon when it receives an input to change the display position of a target task icon among the plurality of task icons.

9. The user interface display device according to any one of claims 1 to 4, wherein the processor is configured to display a screen on the display device for changing the corresponding command for the target task icon when it receives a predetermined operation from the user on a target task icon among the plurality of task icons.

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