WO2020012558A1 - Teaching device - Google Patents

Teaching device Download PDF

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Publication number
WO2020012558A1
WO2020012558A1 PCT/JP2018/026040 JP2018026040W WO2020012558A1 WO 2020012558 A1 WO2020012558 A1 WO 2020012558A1 JP 2018026040 W JP2018026040 W JP 2018026040W WO 2020012558 A1 WO2020012558 A1 WO 2020012558A1
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WO
WIPO (PCT)
Prior art keywords
icon
function
function icon
area
display unit
Prior art date
Application number
PCT/JP2018/026040
Other languages
French (fr)
Japanese (ja)
Inventor
秀人 岩本
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2018553250A priority Critical patent/JP6498366B1/en
Priority to PCT/JP2018/026040 priority patent/WO2020012558A1/en
Priority to TW107137528A priority patent/TW202006487A/en
Publication of WO2020012558A1 publication Critical patent/WO2020012558A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range

Definitions

  • the present invention relates to a teaching device for creating a control program for a robot.
  • FIG. 25 there is a robot 1 having an arm 101 driven according to a control program and performing a motion such as a repetitive motion or a high-speed motion.
  • the control program is a program for operating the robot 1, and indicates command data related to driving of the robot 1, such as a passing point, an operation order, an operation timing, or a conditional operation.
  • a robot teaching for creating a control program is required.
  • FIG. 25 shows an example of the operation of the robot 1 for teaching the robot.
  • a tool 103 attached to a terminal arm 101 via a flange 102 holds the work 4 and moves it to a destination.
  • the tool 103 moves from the passing point P01 at which the operation starts to the passing point P02.
  • the tool 103 vertically descends to the passing point P03 where the work 4 exists, and grips the work 4.
  • the tool 103 moves to the passing point P04 via the passing point P02.
  • the tool 103 descends vertically to the passing point P05 as the destination to release the grip.
  • the tool 103 returns to the passing point P01 via the passing point P04.
  • the instructor when teaching the above-described operation sequence to the robot, the instructor has to translate the operation sequence into a programming language for teaching the robot, and describe it in a character string to create a control program. Therefore, the instructor needs knowledge of the programming language.
  • reference numeral 261 indicates a subroutine
  • reference numeral 262 indicates numerical information.
  • Patent Document 1 As a programming method of a teaching system for performing an assembling operation, a method using an icon is disclosed (for example, see Patent Document 1).
  • information necessary for programming is decomposed into at least three levels of hierarchy, arranged and displayed.
  • the present invention has been made in order to solve the above-described problems, and in a teaching device that creates a control program for a robot, a user can use a function icon representing a function constituting the control program to change a parameter of the function. It is an object of the present invention to provide a teaching device capable of intuitively grasping a setting state.
  • the teaching device is a first icon displaying a function icon, which is an icon representing a function constituting a control program for the robot, and an icon having a status window for displaying an outline of parameter setting of the function in characters.
  • a screen generating unit that generates a teaching screen having an area and a second area, and a function icon selected from the first area in the teaching screen generated by the screen generating unit, and a function icon obtained by duplicating the function icon is selected.
  • a function icon display unit to be arranged in the second area, a setting unit to set a parameter of a function represented by the function icon arranged in the second area by the function icon display unit, and a function area to the second area by the function icon display unit
  • a program creation unit that creates a control program based on the arranged function icons and settings made by the setting unit. Function icon display unit, according to the setting by the setting unit, and changing the appearance of the function icons arranged in the second region.
  • the configuration described above allows the user to intuitively grasp the setting states of the parameters of the function from the function icons representing the functions constituting the control program.
  • FIG. 1 is a diagram illustrating a configuration example of a teaching system according to Embodiment 1 of the present invention.
  • 2A to 2C are diagrams showing a configuration example of the robot according to the first embodiment of the present invention.
  • FIGS. 3A and 3B are diagrams showing a configuration example of the tool according to the first embodiment of the present invention.
  • FIG. 3 is a diagram illustrating a configuration example of a program generation unit according to the first embodiment of the present invention.
  • 5A to 5E are diagrams showing an example of a function icon used in the teaching device according to Embodiment 1 of the present invention.
  • FIG. 5A shows an example of a passing point icon
  • FIG. 5B shows an example of a movement icon.
  • 5C shows an example of a pause icon, FIG.
  • FIG. 4 is a diagram illustrating an example of an initial teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention.
  • 11A to 11D are diagrams showing an example of a passing point icon used in the teaching device according to the first embodiment of the present invention.
  • 12A to 12C are diagrams illustrating the angle of the flange at the passing point of the robot according to Embodiment 1 of the present invention.
  • FIGS. 13A and 13B are diagrams illustrating the approach distance of the robot according to the first embodiment of the present invention with respect to the passing point.
  • FIGS. 14A to 14D are diagrams illustrating an example of the movement icon used in the teaching device according to the first embodiment of the present invention.
  • FIGS. 16A to 16C are diagrams showing an example of a tool icon used in the teaching device according to the first embodiment of the present invention.
  • 17A to 17C are diagrams showing an example of a subroutine icon used in the teaching device according to Embodiment 1 of the present invention.
  • 18A and 18B are diagrams illustrating an example of a status window of a subroutine icon used in the teaching device according to Embodiment 1 of the present invention.
  • FIGS. 19A to 19C are diagrams illustrating an example of a detail button included in a subroutine icon used in the teaching device according to the first embodiment of the present invention.
  • FIG. 4 is a diagram showing an example of saving a subroutine icon displayed on the teaching device according to the first embodiment of the present invention. It is a figure which shows an example of the teaching screen displayed on the teaching device which concerns on Embodiment 2 of this invention.
  • FIG. 11 is a diagram showing an example of a 3D preview window displayed on the teaching device according to Embodiment 2 of the present invention.
  • FIG. 11 is a diagram showing an example of a 3D preview window displayed on the teaching device according to Embodiment 2 of the present invention.
  • FIGS. 24A and 24B are diagrams illustrating a hardware configuration example of the teaching device according to the first and second embodiments of the present invention.
  • FIG. 5 is a diagram illustrating an example of the operation of the robot.
  • FIG. 4 is a diagram illustrating an example of a control program in a programming language.
  • FIG. 1 is a diagram showing a configuration example of a teaching system according to Embodiment 1 of the present invention. 1, illustration of power supply to each device is omitted.
  • the teaching system includes a robot 1, a robot control device 2, and a teaching device 3, as shown in FIG.
  • the robot 1 has the arm 101 driven in accordance with the operation control signal output from the robot control device 2, and performs a motion such as a repetitive motion or a high-speed motion.
  • the arm 101 indicates a casing connecting the axes of the robot 1 and a casing extending from a terminal axis.
  • the axis indicates the center of rotation of the driving device of the robot 1 that rotates.
  • the axis also includes the trajectory of the drive that changes the rotary motion into a linear motion.
  • the number of axes differs depending on the type of the robot 1.
  • 2A shows the robot 1 having six axes (J1 to J6)
  • FIG. 2B shows the robot 1 having four axes (J1 to J4)
  • FIG. 2C shows the robot 1 having four axes (J1 to J4).
  • J1 is the axis closest to the installation part of the robot 1.
  • the robot 1 has a tool 103 attached to a distal arm 101 via a flange 102.
  • the flange 102 points to a place on the distal arm 101 where the tool 103 is fixed.
  • the tool 103 is a device that is fixed to the flange 102 and performs operations such as assembly, transport, and deburring.
  • FIG. 3A shows a hand which is a tool 103 of a type for gripping the work 4
  • FIG. 3B shows a tool 103 of a type for gripping the tool 104.
  • FIG. 3B shows a grinder as the tool 104.
  • a vacuum which is a type of tool 103 that holds the work 4 by a suction force
  • a spray may be used in addition to the above.
  • the work 4 indicates a work target of the robot 1.
  • the work 4 indicates a target to be gripped by the hand as shown in FIG. 3A.
  • the work 4 indicates a target to which the grinder is pressed as shown in FIG. 3B.
  • the reference numeral 11 in FIG. 3 indicates a control point.
  • the control point indicates one point at the tip of the tool 103.
  • the control point indicates a point to be gripped in the case of a hand, and indicates a point to be processed by the tool 104 in the case of the type of tool 103 that grips the tool 104.
  • the robot control device 2 generates an operation control signal based on the control program read from the teaching device 3, and outputs the operation control signal to the robot 1.
  • the control program is a program for operating the robot 1, and indicates command data related to driving of the robot 1, such as a passing point, an operation sequence, an operation timing, or a conditional operation.
  • the robot control device 2 includes a program reading unit 201, an operation control signal generation unit 202, and an operation control signal output unit 203.
  • the program reading section 201 reads a control program from a program storage section 304 of the teaching device 3 described later.
  • the operation control signal generator 202 generates an operation control signal based on the control program read by the program reader 201.
  • the operation control signal output unit 203 outputs the operation control signal generated by the operation control signal generation unit 202 to the robot 1.
  • the configurations and operations of the robot 1 and the robot controller 2 are the same as the configurations and operations of the conventionally known robot and robot controller.
  • the teaching device 3 is a device that creates a control program according to a user's operation.
  • the creation of the control program by the teaching device 3 means a new creation of the control program or a modification of the control program.
  • a dedicated teaching device for a robot, a general-purpose personal computer or a tablet terminal on which robot teaching software is installed, or the like is used.
  • the user is a teacher who operates the teaching device 3.
  • the teaching device 3 includes a display unit 301, an input unit 302, a program generation unit 303, and a program storage unit 304.
  • the display unit 301 displays the teaching screen 6 generated by the program generation unit 303.
  • the input unit 302 accepts a user's operation on the teaching screen 6 displayed on the display unit 301.
  • the program generation unit 303 generates the teaching screen 6 to be displayed on the display unit 301, and performs various processes such as updating the teaching screen 6 according to the operation received by the input unit 302 to create a control program.
  • the program generation unit 303 includes a data storage unit 305, a screen generation unit 306, a function icon display unit 307, a setting unit 308, and a program generation unit 309.
  • the data storage unit 305 stores data relating to the function icons 5.
  • the function icon 5 is an icon representing a function constituting the control program, and is an icon having an appearance 501 graphically represented so as to recall the function.
  • the function icon 5 has a function that enables setting of parameters specialized for robot teaching. Details of the function icon 5 will be described later.
  • the function icons 5 include, for example, a passing point icon 5a, a moving icon 5b, a pause icon 5c, a tool icon 5d, and a subroutine icon 5e.
  • the data related to the function icon 5 includes a pattern used for the appearance 501 of the function icon 5, parameters of the function represented by the function icon 5, and data indicating a program in which the function is described by a character string in a program language. It is.
  • the data storage unit 305 may store 3D data indicating the robot 1 and the surrounding environment.
  • the surrounding environment refers to a space in which the robot 1 is installed, and a general term for all articles such as a floor, a pillar, a table, related devices, wiring, and a work 4 in the space.
  • the 3D data refers to three-dimensional data in a virtual three-dimensional space in which the outer shape, position, or movement of the robot 1 and the surrounding environment is digitized.
  • the screen generation unit 306 generates the teaching screen 6 using the data stored in the data storage unit 305.
  • the teaching screen 6 according to the first embodiment is a visual program window 601 having a selection area (first area) 602 and a creation area (second area) 603.
  • the selection area 602 is an area where the basic function icons 5 created from the data stored in the data storage unit 305 by the screen generation unit 306 are displayed.
  • the creation area 603 is an area where the function icons 5 in which the function icons 5 selected in the selection area 602 by the function icon display unit 307 are duplicated are arranged.
  • the function icon display unit 307 displays a function icon in the creation area 603 of the teaching screen 6 generated by the screen generation unit 306 using the data stored in the data storage unit 305 in accordance with the operation received by the input unit 302. 5 is arranged. At this time, the function icon display unit 307 selects the function icon 5 from the selection area 602 and arranges the function icon 5 obtained by duplicating the function icon 5 in the creation area 603. Further, the function icon display unit 307 changes the appearance 501 of the function icon 5 arranged in the creation area 603 using the data stored in the data storage unit 305 according to the setting by the setting unit 308.
  • the setting unit 308 sets parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 according to the operation received by the input unit 302.
  • the program creating unit 309 creates a control program using the data stored in the data storage unit 305 based on the function icons 5 arranged in the creation area 603 by the function icon display unit 307 and the settings made by the setting unit 308. I do.
  • the program storage unit 304 stores the control program created by the program creation unit 309.
  • a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), or the like
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), or the like
  • a volatile semiconductor memory a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or the like is applicable.
  • FIG. 1 and 4 show a case where the display unit 301, the input unit 302, the program storage unit 304, and the data storage unit 305 are provided inside the teaching device 3.
  • the invention is not limited thereto, and the display unit 301, the input unit 302, the program storage unit 304, and the data storage unit 305 may be provided outside the teaching device 3.
  • the teaching device 3 displays the teaching screen 6. Then, the teaching device 3 selects the function icon 5 from the selection area 602 of the teaching screen 6 according to the operation by the user, and arranges the function icons 5 obtained by duplicating the function icon 5 in the creation area 603. Then, the teaching device 3 sets a parameter of the function represented by the function icon 5 arranged in the creation area 603, and changes the appearance 501 of the function icon 5 according to the setting. Then, the teaching device 3 creates a control program from the function icons 5 arranged in the creation area 603 and the parameters set for the function represented by the function icons 5. Thus, the user can easily create the control program without requiring knowledge of the grammar of the programming language.
  • FIG. 6 shows an example of an initial teaching screen 6 displayed on the teaching device 3.
  • the screen generation unit 306 displays the basic function icons 5 in the selection area 602.
  • a passing point icon 5a, a pause icon 5c, a tool icon 5d, and a subroutine icon 5e are displayed in the selection area 602.
  • the screen generation unit 306 uses a preset design as the appearance 501 of the function icon 5 displayed in the selection area 602.
  • a design imitating the shape of the hand is used as the appearance 501d of the tool icon 5d.
  • the setting unit 308 sets a reference value for a parameter of the function represented by the function icon 5 displayed in the selection area 602 by the screen generation unit 306.
  • the function icon 5 is not arranged in the creation area 603.
  • the screen generation unit 306 displays the name of the function icon 5 above the function icon 5 in the selection area 602.
  • the characters "POSITION” are displayed above the movement icon 5b.
  • the characters "DELAY” are displayed above the pause icon 5c.
  • the character "HAND” is displayed above the tool icon 5d.
  • the letters "SUBBROUTINE” are displayed above the subroutine icon 5e.
  • the screen generation unit 306 displays in the creation area 603 the start point and the end point of the control program.
  • the character "START” is displayed at the start point of the control program
  • the character "END” is displayed at the end point of the control program.
  • the screen generation unit 306 displays a partition line 604 between the start point and the end point of the control program in the creation area 603.
  • the function icon display unit 307 duplicates and creates the same function icon 5 as the function icon 5 in response to the user dragging the function icon 5 displayed in the selection area 602. Move to area 603.
  • the function icon display unit 307 brings the function icon 5 closer to a predetermined range between the display of the start point and the end point of the control program.
  • the screen generation unit 306 widens the gap between the display of the start point and the display of the end point.
  • the screen generation unit 306 divides a partition line 604 between the display of the start point and the display of the end point into two, and provides a gap therebetween.
  • the screen generation unit 306 tilts the display of the start point, the display of the end point, and the partition line 604.
  • the function icon display unit 307 displays the function icon 5 between the display of the start point and the display of the end point. To place.
  • the function icon display unit 307 displays the function icon 5 in a predetermined range between the function icon 5 already arranged in the creation area 603 and the display of the end point of the control program.
  • the screen generation unit 306 and the function icon display unit 307 widen the gap between the already arranged function icons 5 and the display of the end point, as described above.
  • the screen generation unit 306 divides the partition line 604 between the already arranged function icon 5 and the display of the end point into two, and provides a gap therebetween.
  • the screen generation unit 306 and the function icon display unit 307 incline the already arranged function icons 5, the display of the end point, and the partition line 604. Thereafter, when the user drops the function icon 5 between the already arranged function icon 5 and the display of the end point, the function icon display unit 307 displays the function icon 5 having the function icon 5 already arranged and the end point. Place it between the display.
  • the function icon display unit 307 has brought the function icon 5 closer to a predetermined range between the display of the start point of the control program and the function icon 5 already arranged in the creation area 603. Also in this case, the screen generation unit 306 and the function icon display unit 307 perform the same operation as described above. It is also assumed that the function icon display unit 307 has brought the function icon 5 closer to a predetermined range between the two function icons 5 already arranged in the creation area 603 as indicated by an arrow 15 in FIG. Also in this case, the function icon display unit 307 operates similarly to the above.
  • the screen generation unit 306 can behave only in a position where the function icon 5 can be arranged as a control program in the creation area 603. Further, the function icon display unit 307 enables only the function icons 5 located before and after the position where the function icons 5 can be arranged as the control program among the function icons 5 already arranged in the creation area 603. Thus, the user can intuitively grasp the position where the function icon 5 can be arranged, and can reduce the error of the control program.
  • the function icon display unit 307 can also move the function icons 5 already arranged in the creation area 603 to another position. Also in this case, the operations of the screen generation unit 306 and the function icon display unit 307 are the same as described above. Thus, the user can examine the control program. In addition, since the operation of the teaching device 3 is consistent, the user can operate without the instruction manual.
  • the function icon 5 has an appearance 501 that is graphically represented so as to recall the function.
  • the function icon 5 has one or more status windows 502. Further, the function icon 5 has a detail button 503 as necessary.
  • the detail button 503 may have the same appearance regardless of the type of the function icon 5.
  • the status window 502 is a window that displays a summary of parameter settings of the function represented by the function icon 5 in characters or numerical values.
  • the characters or numerical values displayed in the status window 502 can be changed by selection or input by the user.
  • the setting unit 308 sets the parameters of the function represented by the function icons 5 arranged in the creation area 603 by the function icon display unit 307 according to the setting by the user for the status window 502 displayed by the function icon display unit 307. .
  • the function icon display unit 307 displays a pop-up window 504 near the function icons 5.
  • the pop-up window 504 is a window in which the parameters of the function represented by the function icon 5 can be set.
  • the parameters displayed in the pop-up window 504 can be changed by selection or input by the user.
  • the setting unit 308 sets the parameters of the function represented by the function icons 5 arranged in the creation area 603 by the function icon display unit 307 according to the setting by the user for the pop-up window 504 displayed by the function icon display unit 307. .
  • the function icon 5 allows the user to create a control program without having to know the variable names of the programming language or the description contents of each variable. Further, by displaying the appearance 501 of the function icon 5 and the display of the status window 502, the user can intuitively and efficiently grasp the entire configuration of the control program. Also, the teaching device 3 divides the setting items by the setting unit 308 into a plurality of layers, displays the upper layer in the status window 502, and displays the lower layer in the pop-up window 504 only when the detail button 503 is selected. To display. Thus, the user can reduce the visual complexity and easily understand the configuration of the control program.
  • details of the function icons 5 shown in FIG. 5 will be described.
  • the passing point icon 5a is an icon representing a passing point that is a point through which the control point of the robot 1 passes.
  • the appearance 501a of the passing point icon 5a is a pattern such as a circle, and expresses that it indicates a point of specific coordinates. Note that the coordinates represent distances in three directions orthogonal to each other from an arbitrary origin determined for the robot 1.
  • the state window 502a of the passing point icon 5a displays the name of the passing point.
  • the name of the passing point displayed in the status window 502a can be changed by character input by the user.
  • the setting unit 308 may automatically set the name of the passing point when the passing icon 5a is arranged in the creation area 603 by the function icon display unit 307. For example, when the first pass point icon 5a is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 may set the name of the pass point represented by the pass point icon 5a to “P01” or the like. .
  • the setting unit 308 sets the name of the pass point represented by the pass point icon 5a to a serial number such as "P02". It may be.
  • the function icon display unit 307 displays a pull-down list as a status window 502a of each passing point icon 5a as shown in FIG. 11B.
  • This pull-down list is a list that allows selection of the passing point represented by each of the passing point icons 5a.
  • “P01” or “P02” can be selected as a passing point. This makes it easier for the user to teach a route that passes one pass point many times.
  • the setting unit 308 sets initial values of the respective coordinates so that the passing points represented by the passing point icons 5a do not overlap. May be automatically shifted.
  • the function icon display unit 307 displays a pop-up window 504a as shown in FIG. 11C.
  • the input fields of X, Y, and Z are fields in which the coordinates of the passing point with respect to the origin of the robot 1 can be input as numerical values.
  • the input fields of A, B, and C are fields in which the angle of the flange 102 at the passing point of the robot 1 can be numerically input.
  • A is the angle of the flange 102 with the X axis passing through the passing point as the rotation axis, as shown in FIG. 12A.
  • B is the angle of the flange 102 with the Y axis passing through the passing point as the rotation axis, as shown in FIG. 12B.
  • C is the angle of the flange 102 with the Z axis passing through the passing point as the rotation axis, as shown in FIG. 12C.
  • reference numeral 17 indicates a passing point.
  • the setting unit 308 has set the pass point represented by the pass point icon 5a to be the same as the pass points represented by the other pass point icons 5a in accordance with the selection of the pull-down list by the user.
  • the function icon display unit 307 adds an input field that allows an approach distance to be input to the pop-up window 504a displayed for the passing point icon 5a.
  • the approach distance is a distance from a passing point in a direction perpendicular to the plane of the flange 102, as shown in FIG.
  • reference numeral 18 indicates a passing point. Further, the distance in the direction approaching the flange 102 around the passing point (the direction of the arrow 19 shown in FIG.
  • the setting unit 308 changes the passing point represented by the passing point icon 5a on which the pop-up window 504a is displayed, in response to an input by the user in the input field of the pop-up window 504a displayed by the function icon display unit 307. That is, the setting unit 308 sets the coordinates of the passing point represented by the passing point icon 5a as the coordinates obtained by adding the numerical value for the approach distance to the coordinates of the passing point represented by the other passing point icon 5a.
  • the function icon display unit 307 may display the numerical value together with the name of the passing point in the status window 502a as shown in FIG. 11D.
  • the setting unit 308 sets the name of the passing point to “P01” and sets the approach distance to “ ⁇ 8.00”, and the function icon display unit 307 displays “P01, ⁇ 8” in the status window 502a. it's shown.
  • the function icon display unit 307 When a numerical value for the approach distance is set by the setting unit 308, the function icon display unit 307 also selects the pass point represented by the pass point icon 5a in which the approach distance is set, from the pull-down list displayed as the status window 502a. It may be possible. For example, in the example illustrated in FIG. 11D, the function icon display unit 307 may be able to select “P01, ⁇ 8” as a passing point by using a pull-down list.
  • the movement icon 5b is an icon representing a method of moving the robot 1 from a passing point to a passing point.
  • the appearance 501b of the movement icon 5b is a pattern simulating an arrow or the like, and expresses movement.
  • the function icon display unit 307 does not arrange the moving icon 5b alone in the creation area 603, but automatically places the moving icon 5b in the process immediately before the passing point icon 5a when the passing point icon 5a is arranged. May be arranged. This facilitates the operation for the user.
  • the status window 502b of the movement icon 5b displays the type of the movement method.
  • the function icon display unit 307 displays, as the status window 502b, a pull-down list from which the type of the moving mode can be selected.
  • the moving method include linear interpolation, joint interpolation, and arc interpolation.
  • Linear interpolation is a method in which the locus of movement keeps a straight line.
  • the joint interpolation is a method in which the trajectory of the movement is determined depending on the outcome of the motion of each joint of the robot 1.
  • Circular interpolation is a method in which the locus of movement keeps a circular arc.
  • “straight line” meaning linear interpolation or “joint” meaning joint interpolation can be selected as the type of movement method.
  • the function icon display unit 307 changes the appearance 501b of the movement icon 5b according to the movement method set by the setting unit 308. For example, when the moving method is set to linear interpolation by the setting unit 308, the function icon display unit 307 uses a pattern imitating a linear arrow as the appearance 501b of the moving icon 5b, as shown in FIG. 14A. Further, when the movement method is set to the joint interpolation by the setting unit 308, the function icon display unit 307 adopts a pattern imitating a wavy arrow as the appearance 501b of the movement icon 5b, as shown in FIG. 14B. Thereby, the user can intuitively grasp the moving method from the appearance 501b of the moving icon 5b.
  • the function icon display unit 307 displays a pop-up window 504b as shown in FIG. 14D.
  • the pop-up window 504b is a window in which the moving speed can be set.
  • the pop-up window 504b shown in FIG. 14C has an input box for inputting a numerical value indicating how much the moving speed is to the reference speed, and an input box for inputting a numerical value indicating the reference speed. ing.
  • the setting unit 308 sets the moving speed of the moving icon 5b arranged in the subsequent process of the moving icon 5b by the function icon display unit 307 to the same speed. Set to speed.
  • the setting unit 308 sets the moving speed of the moving icon 5b arranged in a subsequent process of the moving icon 5b by the function icon display unit 307.
  • the moving speed may be required to be set for each location, but it is considered that the moving speed is required to be set as a whole. Therefore, the teaching device 3 reflects the moving speed set and changed for the moving icon 5b also on the moving icon 5b located in a process subsequent to the moving icon 5b. This facilitates the operation for the user.
  • the pause icon 5c is an icon indicating that the execution of the next step is paused for an arbitrary time.
  • the appearance 501c of the pause icon 5c is a pattern such as a clock and expresses time.
  • the function icon display unit 307 may display a unit of time in the pause icon 5c.
  • the status window 502c of the pause icon 5c displays the time of the pause.
  • the time displayed in the status window 502c can be changed by a numerical value input by the user.
  • the setting unit 308 may set the time to pause to the reference value. For example, when the pause icon 5c is placed in the creation area 603 by the function icon display unit 307, the setting unit 308 sets the pause time to 1.0 s, and the user changes the numerical value as necessary. Note that there is no detail button 503 in the pause icon 5c.
  • FIG. 16 shows a case where the tool 103 is a hand.
  • the tool icon 5d is an icon indicating that the tool 103 operates.
  • the appearance 501d of the tool icon 5d is a pattern simulating the shape and operation of the tool 103, and expresses the type and operation of each tool 103.
  • the status window 502d of the tool icon 5d displays the name of the tool 103.
  • the name of the tool 103 displayed in the state window 502d can be changed by a character input by the user.
  • the function icon display unit 307 displays a pull-down list as the status window 502d. This pull-down list is a window that allows the type of the tool 103 to be selected.
  • the function icon display unit 307 changes the appearance 501d of the tool icon 5d according to the type of the tool 103 set by the setting unit 308. For example, when the type of the tool 103 is set to the hand by the setting unit 308, the function icon display unit 307 sets the appearance 501d of the tool icon 5d to a pattern imitating the shape of the hand as shown in FIG. . When the setting unit 308 sets the type of the tool 103 to the type of the tool 103 that grips the grinder, the function icon display unit 307 sets the appearance 501d of the tool icon 5d to a pattern imitating the shape of the grinder. . Accordingly, the user can intuitively grasp the type of the tool 103 from the appearance 501d of the tool icon 5d.
  • the function icon display unit 307 displays a pop-up window 504d as shown in FIG. 16C.
  • the pop-up window 504d is a window in which the operation of the tool 103, the speed of the operation, the intensity of the operation, and the like can be set.
  • an item that allows selection of “open” indicating the opening operation of the hand or “close” indicating the closing operation, and what percentage of the opening / closing speed of the hand with respect to the reference speed are set.
  • the function icon display unit 307 changes the appearance 501d of the tool icon 5d according to the operation of the tool 103 set by the setting unit 308. For example, when the operation of the hand is set to the closing operation by the setting unit 308, the function icon display unit 307 displays the appearance 501d of the tool icon 5d as a pattern simulating the shape of the closed hand as shown in FIG. 16A. I do. When the operation of the hand is set to the open operation by the setting unit 308, the function icon display unit 307 displays the appearance 501d of the tool icon 5d as a pattern simulating the shape of the opened hand as shown in FIG. 16B. I do. Thereby, the user can intuitively grasp the operation of the tool 103 from the appearance 501d of the tool icon 5d.
  • the subroutine icon 5e is an icon having a space 505e in which other function icons 5 can be arranged, and is a series of programs having a relationship constituted by the other function icons 5 arranged in the space 505e.
  • This is an icon representing a certain subroutine.
  • the appearance 501e of the subroutine icon 5e is a design such as an enclosure having a space 505e in the center, and expresses that something can be enclosed. That is, the appearance 501e reminds that the function icon 5 can be arranged in the subroutine icon 5e by bringing the other function icon 5 close thereto. Further, the user can intuitively grasp which function icons 5 have been grouped from the function icons 5 arranged inside the space 505e of the subroutine icon 5e.
  • the function icon display unit 307 brings another function icon 5 closer to a predetermined range with respect to the subroutine icon 5e arranged in the creation area 603, as indicated by an arrow 21 in FIG. 17B.
  • the function icon display unit 307 expands the space 505e of the subroutine icon 5e. Accordingly, the user can understand that the function icon 5 should be dropped in the subroutine icon 5e, and can operate without the instruction manual. Thereafter, when the user drops another function icon 5 in the space 505e of the subroutine icon 5e by the user, the function icon display unit 307 loads the other function icon 5 into the space 505e.
  • the subroutine icon 5e has a telescopic drag area 506e at both left and right ends. Then, as indicated by an arrow 23 in FIG. 17C, when the user drags the expansion / contraction drag area 506e of the subroutine icon 5e arranged in the creation area 603 in the direction in which the user extends the expansion / contraction drag area 506e, The space 505e is extended. At this time, the function icon display unit 307 may tilt the function icon 5 adjacent to the expansion / contraction drag area 506e and present inside the space 505e. Then, the function icon display unit 307 takes in the function icon 5 adjacent to the telescopic drag area 506e and existing outside the space 505e into the space 505e.
  • the function icon display unit 307 shrinks the space 505e on the expandable drag area 506e side. Then, the function icon display unit 307 discharges the function icons 5 adjacent to the expansion / contraction drag area 506e and existing inside the space 505e to the outside of the space 505e.
  • the status window 502e of the subroutine icon 5e displays the name of the subroutine.
  • the name of the subroutine displayed in this status window 502e can be changed by a character input by the user.
  • the setting unit 308 may automatically set the name of the subroutine when the function icon display unit 307 places the subroutine icon 5e in the creation area 603. For example, when the first subroutine icon 5e is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 may set the name of the subroutine represented by the subroutine icon 5e to “Sub1” or the like.
  • the setting unit 308 may set the name of the subroutine represented by the subroutine icon 5e to a serial number such as "Sub2". .
  • the function icon display unit 307 displays a pull-down list as a status window 502e of each subroutine icon 5e, as shown in FIG. 18A.
  • This pull-down list is a list that allows selection of the subroutine represented by each of the subroutine icons 5e. In the pull-down list shown in FIG. 18A, “Sub1” or “Sub2” can be selected as a subroutine.
  • the setting unit 308 switches the subroutine represented by the subroutine icon 5e
  • the function icon display unit 307 switches the function icon 5 arranged in the space 505e of the subroutine icon 5e.
  • FIG. 18B shows a case where the setting unit 308 switches the subroutine represented by the subroutine icon 5e shown in FIG. 18A from “Sub1” to “Sub2”. Accordingly, even when the new subroutine icon 5e is arranged in the creation area 603, the teaching device 3 can reconstruct the subroutine with the new subroutine icon 5e by designating the already created subroutine. Accordingly, the user can easily set the repetitive work or set the work process according to the conditions.
  • the function icon display unit 307 displays a pop-up window 504e as shown in FIG. 19A.
  • the pop-up window 504e shown in FIG. 19A enables selection of subroutine aggregation, subroutine development, and subroutine disassembly.
  • the function icon display unit 307 displays the function icons 5 arranged inside the space 505e of the subroutine icons 5e as shown in FIG. 19B. Is hidden. As a result, the appearance 501e of the subroutine icon 5e becomes the same as the state where the subroutine icon 5e is newly arranged in the creation area 603. As described above, the teaching device 3 collects the subroutines in the subroutine icon 5e and hides the detailed information, so that the user can intuitively and efficiently grasp the entire control program.
  • the function icon display unit 307 displays the function icon 5 arranged inside the space 505e of the subroutine icon 5e as shown in FIG. 19A. I do.
  • the function icon display unit 307 displays all the function icons 5 arranged inside the space 505e of the subroutine icon 5e as shown in FIG. 19C.
  • the subroutine icon 5e is discharged to the outside and the subroutine icon 5e is deleted.
  • the function icon display unit 307 can change the arrangement of the subroutine icons 5e according to the drag by the user.
  • the arrangement method of the subroutine icons 5e by the function icon display unit 307 and the behavior of the peripheral function icons 5 are the same as those of the other function icons 5.
  • the function icon display unit 307 can move the subroutine icon 5e from the creation area 603 to the selection area 602.
  • the screen generation unit 306 displays a subroutine icon 5e obtained by duplicating the subroutine icon 5e moved to the selection area 602 by the function icon display unit 307 in the selection area 602.
  • the subroutine icon 5e duplicated in the selection area 602 by the screen generation unit 306 can be reconstructed in the creation area 603 by the function icon display unit 307.
  • the arrangement method of the subroutine icons 5e by the function icon display unit 307 and the behavior of the peripheral function icons 5 are the same as those of the other function icons 5.
  • the function icon display unit 307 may display a pull-down list as the status window 502e of the subroutine icon 5e arranged in the creation area 603. .
  • This pull-down list allows the user to select a subroutine represented by the subroutine icon 5e copied to the selection area 602 by the screen generation unit 306.
  • the function icon display unit 307 may be able to select “Sub2” as a subroutine using a pull-down list.
  • the user can easily use a subroutine that is in the selection area 602 but not in the creation area 603, and efficiency can be improved.
  • the teaching device 3 is an icon representing a function constituting a control program for the robot 1, and has the status window 502 that displays a setting overview of parameters of the function.
  • a screen generation unit 306 that generates a teaching screen 6 having a selection area 602 displaying a function icon 5 as an icon and a creation area 603, and a function icon from the selection area 602 in the teaching screen 6 generated by the screen generation unit 306.
  • a function icon display unit 307 for arranging the function icon 5 obtained by duplicating the function icon 5 in the creation area 603, and a parameter of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307.
  • a program creation unit 309 for creating a control program based on the arranged function icons 5 and the settings made by the setting unit 308 is provided.
  • the function icon display unit 307 is arranged in the creation area 603 according to the settings made by the setting unit 308.
  • the appearance 501 of the function icon 5 is changed.
  • Embodiment 2 FIG.
  • the first embodiment the case has been described where the screen generation unit 306 generates only the visual program window 601 as the teaching screen 6.
  • the second embodiment shows a case where the screen generation unit 306 generates a screen including a plurality of windows including the visual program window 601 as the teaching screen 6.
  • the configuration example of the teaching system according to the second embodiment and the configuration example of the program generation unit 303 are the same as the configuration example of the teaching system according to the first embodiment illustrated in FIG. 1 and the program generation unit according to the first embodiment illustrated in FIG. This is the same as the configuration example of the unit 303.
  • the screen generation unit 306 uses the data stored in the data storage unit 305 and the program generation unit 303 (the function icon display unit 307, the setting unit 308, and the program generation unit) in addition to the visual program window 601. 309), a teaching screen 6 including one or more windows indicating a processing state is generated.
  • FIG. 21 shows an example of the teaching screen 6 generated by the screen generation unit 306 according to the second embodiment.
  • the teaching screen 6 shown in FIG. 21 has a program list window 605, a program window 606, a position window 607, and a 3D preview window 608 in addition to the visual program window 601 shown in the first embodiment.
  • the program list window 605 is a window showing a list of control program names created by the program generation unit 303.
  • the program generation unit 303 displays the function icon 5 representing the control program in the visual program window 601.
  • the program generation unit 303 deletes the control program.
  • the program window 606 is a window showing the control program created by the program generation unit 303 in the visual program window 601, that is, a control program described in a character string in a programming language.
  • the position window 607 is a window showing detailed information such as the coordinates of the passing point of the robot 1 set by the program generating unit 303 in the visual program window 601 and the angle of the flange 102 at the passing point. Note that the detailed information indicated by the position window 607 may be changeable by a numerical value input by the user.
  • the setting unit 308 sets a parameter of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in accordance with a numerical value input by the user to the position window 607.
  • the 3D preview window 608 is a window showing the state of the control program created by the program generating unit 303 in the visual program window 601 in a virtual three-dimensional space.
  • the screen generation unit 306 displays the display position 609 of the 3D preview in the visual program window 601 and displays the state of the robot 1 at the display position 609 in the 3D preview window 608.
  • the display position 609 of the 3D preview displayed in the visual program window 601 can be moved between the function icons 5 arranged in the creation area 603.
  • the screen generation unit 306 displays a trajectory indicating the movement route of the robot 1.
  • the screen generation unit 306 may display the traveling direction indicating the movement path of the robot 1 with an arrow.
  • the screen generation unit 306 shifts the display so that the arrows do not overlap.
  • the screen generation unit 306 uses a straight arrow as the above-mentioned arrow when the movement method is linear interpolation, and a wavy arrow when the movement method is joint interpolation. Is used.
  • the screen generation unit 306 sets the coordinates of the pass point of the robot 1 and the angle of the flange 102 at the pass point.
  • a possible popup window 610 may be displayed.
  • reference numeral 231 indicates a passing point selected by the user.
  • the pop-up window 610 shown in FIG. 23 also has an entry field for the approach distance.
  • the parameters displayed in the pop-up window 610 can be changed by numerical input by the user.
  • the setting unit 308 sets the parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in response to the user's numerical input to the pop-up window 610.
  • the screen generation unit 306 displays a pull-down list 611 in the 3D preview window 608 that enables the user to select the type of the moving method when the arrow indicating the moving path is selected by the user. May be.
  • reference numeral 232 indicates an arrow selected by the user.
  • the setting unit 308 sets the parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in accordance with the selection of the pull-down list 611 by the user.
  • the screen generation unit 306 displays, as the teaching screen 6, one or more windows indicating the processing state of the program generation unit 303 in addition to the visual program window 601.
  • the user can more easily grasp the setting state of the control program.
  • the display unit 301 of the teaching device 3 is a display
  • the input unit 302 is an input device.
  • Each function of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 in the teaching device 3 is realized by the processing circuit 51.
  • the processing circuit 51 may be dedicated hardware as shown in FIG. 24A, or as shown in FIG. 24B, a CPU (Central Processing Unit, central processing unit, It may be a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.
  • the processing circuit 51 When the processing circuit 51 is dedicated hardware, the processing circuit 51 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specialized Integrated Circuit), and an FPGA (Field Programmable Gate). Array) or a combination thereof.
  • the functions of each unit of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 may be realized by the processing circuit 51, or the functions of each unit may be realized by the processing circuit 51 collectively. Good.
  • the processing circuit 51 When the processing circuit 51 is the CPU 52, the functions of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 are realized by software, firmware, or a combination of software and firmware.
  • Software and firmware are described as programs and stored in the memory 53.
  • the processing circuit 51 implements the function of each unit by reading and executing the program stored in the memory 53. That is, the teaching device 3 includes a memory 53 for storing a program that, when executed by the processing circuit 51, results in the processes illustrated in FIGS. 6 to 11 and 14 to 20, for example. .
  • these programs cause the computer to execute the procedures and methods of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309.
  • a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like is applicable. I do.
  • the functions of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 may be partially realized by dedicated hardware and partially realized by software or firmware.
  • the function of the screen generation unit 306 is realized by the processing circuit 51 as dedicated hardware, and the processing circuit 51 of the function icon display unit 307, the setting unit 308, and the program creation unit 309 is stored in the memory 53.
  • the function can be realized by reading and executing the program.
  • the processing circuit 51 can realize each of the above-described functions by hardware, software, firmware, or a combination thereof.
  • any combination of the embodiments, a modification of an arbitrary component of each embodiment, or an omission of any component in each embodiment is possible within the scope of the invention. .
  • the teaching device is a teaching device for creating a control program for a robot.
  • a setting state of the function can be intuitively grasped from a function icon representing a function constituting the control program, and the control program for the robot is created. It is suitable for use in teaching devices and the like.

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Abstract

The invention comprises: a screen generation unit (306) for generating a teaching screen (6) that has a selection area (602) in which a function icon (5) having a status window (502) is displayed, and a creation area (603); a function icon display unit (307) for selecting, on the teaching screen (6), the function icon (5) from the selection area (602) and placing a function icon (5), which is a duplicate of the function icon (5), in the creation area (603); a setting unit (308) for setting parameters for the function represented by the function icon (5) placed in the creation area (603); and a program creation unit (309) for creating a control program on the basis of the function icon (5) placed in the creation area (603) and the settings by the setting unit (308). The function icon display unit (307) changes the appearance (501) of the function icon (5) placed in the creation area (603) according to the settings by the setting unit (308).

Description

教示装置Teaching device
　この発明は、ロボットに対する制御プログラムを作成する教示装置に関する。 The present invention relates to a teaching device for creating a control program for a robot.
　従来から、図２５に示すように、制御プログラムの通りに駆動するアーム１０１を有し、反復運動又は高速運動等の運動を行うロボット１が存在する。なお、制御プログラムは、ロボット１を動作させるためのプログラムであり、通過点、動作順序、動作タイミング又は条件付き動作等のロボット１の駆動に係る指令データを指す。このロボット１に対しては、制御プログラムを作成するロボット教示が必要となる。 (2) Conventionally, as shown in FIG. 25, there is a robot 1 having an arm 101 driven according to a control program and performing a motion such as a repetitive motion or a high-speed motion. The control program is a program for operating the robot 1, and indicates command data related to driving of the robot 1, such as a passing point, an operation order, an operation timing, or a conditional operation. For this robot 1, a robot teaching for creating a control program is required.
　図２５は、ロボット教示を行うロボット１の動作の一例を示している。図２５に示すロボット１の動作では、末端のアーム１０１にフランジ１０２を介して取付けられたツール１０３が、ワーク４を把持して目的地に移動させる動作を示している。
　図２５に示すロボット１の動作では、まず、ツール１０３が、動作を開始する通過点Ｐ０１から通過点Ｐ０２に移動する。次いで、ツール１０３が、ワーク４が存在する通過点Ｐ０３に垂直に降下してワーク４を把持する。次いで、ツール１０３が、通過点Ｐ０２を経由して通過点Ｐ０４に移動する。次いで、ツール１０３が、目的地である通過点Ｐ０５に垂直に降下して把持を開放する。次いで、ツール１０３が、通過点Ｐ０４を経由して通過点Ｐ０１に戻る。 FIG. 25 shows an example of the operation of the robot 1 for teaching the robot. In the operation of the robot 1 shown in FIG. 25, a tool 103 attached to a terminal arm 101 via a flange 102 holds the work 4 and moves it to a destination.
In the operation of the robot 1 shown in FIG. 25, first, the tool 103 moves from the passing point P01 at which the operation starts to the passing point P02. Next, the tool 103 vertically descends to the passing point P03 where the work 4 exists, and grips the work 4. Next, the tool 103 moves to the passing point P04 via the passing point P02. Next, the tool 103 descends vertically to the passing point P05 as the destination to release the grip. Next, the tool 103 returns to the passing point P01 via the passing point P04.
　従来、教示者は、上記のような動作順序をロボット教示する場合、その動作順序をロボット教示のためのプログラミング言語に翻訳し、それを文字列で記述して制御プログラムを作成する必要がある。よって、教示者は、プログラム言語の知識を要する。 Conventionally, when teaching the above-described operation sequence to the robot, the instructor has to translate the operation sequence into a programming language for teaching the robot, and describe it in a character string to create a control program. Therefore, the instructor needs knowledge of the programming language.
　また、教示者は、プログラム言語による制御プログラムの内容を把握するためには、プログラム言語を読み解く時間が必要となる。すなわち、例えば図２６に示すように、プログラム言語による文字列で記述された制御プログラムは、全体構成又は詳細情報等の情報の粒度に依らず視覚的に均一であり、教示者はプログラム言語を読み解くことでしか内容を把握できない。例えば、サブルーチン或いは座標又は時間の指定に必要な数値情報等のように、情報の種別の違いも、文字列として全体の記述に埋没してしまうため、直感性が無い。そのため、プログラム言語の知識がある者でも他者が作成した制御プログラムの内容把握には時間を要する。また、自身で作成した制御プログラムでも時間の経過とともに内容を忘れてしまうため、効率的に内容を把握できるよう、制御プログラムに影響を与えない記述方法で覚書のコメントを記載する等の工夫を要する。なお、図２６において、符号２６１はサブルーチンを示し、符号２６２は数値情報を示している。 教 示 In addition, in order for the instructor to understand the contents of the control program in the programming language, it takes time to read and understand the programming language. That is, as shown in FIG. 26, for example, a control program described by a character string in a programming language is visually uniform irrespective of the overall configuration or the granularity of information such as detailed information, and the instructor interprets the programming language. You can only understand the content by the thing. For example, a difference in information type, such as a subroutine or numerical information necessary for designating coordinates or time, is buried in the entire description as a character string, and thus has no intuition. Therefore, even a person who has knowledge of the programming language takes time to grasp the contents of the control program created by another person. In addition, since the contents of a control program created by oneself are forgotten with the passage of time, it is necessary to devise a memorandum comment in a description method that does not affect the control program so that the contents can be grasped efficiently. . In FIG. 26, reference numeral 261 indicates a subroutine, and reference numeral 262 indicates numerical information.
　これに対し、組立作業を行う教示システムのプログラミング方法として、アイコンを利用した方法が開示されている（例えば特許文献１参照）。この特許文献１に開示された方法では、プログラミングに必要な情報を少なくとも３段階の階層に分解し、整理して表示している。 On the other hand, as a programming method of a teaching system for performing an assembling operation, a method using an icon is disclosed (for example, see Patent Document 1). In the method disclosed in Patent Document 1, information necessary for programming is decomposed into at least three levels of hierarchy, arranged and displayed.
特開平０８－２４９０２６号公報JP-A-08-249026
　しかしながら、特許文献１に開示された方法では、アイコンが表す機能のパラメータの設定に依らず、アイコンの表示は固定である。よって、このアイコンを用いたプログラミングでは、教示者はアイコンから機能がどのような設定となっているかを直感的に把握できないという課題がある。 However, in the method disclosed in Patent Document 1, the display of the icon is fixed regardless of the setting of the parameter of the function represented by the icon. Therefore, in the programming using the icon, there is a problem that the instructor cannot intuitively grasp the setting of the function from the icon.
　この発明は、上記のような課題を解決するためになされたもので、ロボットに対する制御プログラムを作成する教示装置において、ユーザが、当該制御プログラムを構成する機能を表す機能アイコンから当該機能のパラメータの設定状態を直感的に把握可能な教示装置を提供することを目的としている。 The present invention has been made in order to solve the above-described problems, and in a teaching device that creates a control program for a robot, a user can use a function icon representing a function constituting the control program to change a parameter of the function. It is an object of the present invention to provide a teaching device capable of intuitively grasping a setting state.
　この発明に係る教示装置は、ロボットに対する制御プログラムを構成する機能を表すアイコンであって、当該機能のパラメータの設定概要を文字で表示する状態ウィンドウを有するアイコンである機能アイコンを表示した第１の領域、及び第２の領域を有する教示画面を生成する画面生成部と、画面生成部により生成された教示画面において、第１の領域から機能アイコンを選択し、当該機能アイコンを複製した機能アイコンを第２の領域に配置する機能アイコン表示部と、機能アイコン表示部により第２の領域に配置された機能アイコンが表す機能のパラメータを設定する設定部と、機能アイコン表示部により第２の領域に配置された機能アイコン及び設定部による設定に基づいて、制御プログラムを作成するプログラム作成部とを備え、機能アイコン表示部は、設定部による設定に応じ、第２の領域に配置した機能アイコンの外観を変更することを特徴とする。 The teaching device according to the present invention is a first icon displaying a function icon, which is an icon representing a function constituting a control program for the robot, and an icon having a status window for displaying an outline of parameter setting of the function in characters. A screen generating unit that generates a teaching screen having an area and a second area, and a function icon selected from the first area in the teaching screen generated by the screen generating unit, and a function icon obtained by duplicating the function icon is selected. A function icon display unit to be arranged in the second area, a setting unit to set a parameter of a function represented by the function icon arranged in the second area by the function icon display unit, and a function area to the second area by the function icon display unit A program creation unit that creates a control program based on the arranged function icons and settings made by the setting unit. Function icon display unit, according to the setting by the setting unit, and changing the appearance of the function icons arranged in the second region.
　この発明によれば、上記のように構成したので、ユーザが、制御プログラムを構成する機能を表す機能アイコンから当該機能のパラメータの設定状態を直感的に把握可能となる。 According to the present invention, the configuration described above allows the user to intuitively grasp the setting states of the parameters of the function from the function icons representing the functions constituting the control program.
この発明の実施の形態１に係る教示システムの構成例を示す図である。1 is a diagram illustrating a configuration example of a teaching system according to Embodiment 1 of the present invention. 図２Ａ～図２Ｃは、この発明の実施の形態１におけるロボットの構成例を示す図である。2A to 2C are diagrams showing a configuration example of the robot according to the first embodiment of the present invention. 図３Ａ、図３Ｂは、この発明の実施の形態１におけるツールの構成例を示す図である。FIGS. 3A and 3B are diagrams showing a configuration example of the tool according to the first embodiment of the present invention. この発明の実施の形態１におけるプログラム生成部の構成例を示す図である。FIG. 3 is a diagram illustrating a configuration example of a program generation unit according to the first embodiment of the present invention. 図５Ａ～図５Ｅは、この発明の実施の形態１に係る教示装置で用いられる機能アイコンの一例を示す図であり、図５Ａは通過点アイコンの一例を示し、図５Ｂは移動アイコンの一例を示し、図５Ｃは一時停止アイコンの一例を示し、図５Ｄはツールアイコンの一例を示し、図５Ｅはサブルーチンアイコンの一例を示す図である。5A to 5E are diagrams showing an example of a function icon used in the teaching device according to Embodiment 1 of the present invention. FIG. 5A shows an example of a passing point icon, and FIG. 5B shows an example of a movement icon. 5C shows an example of a pause icon, FIG. 5D shows an example of a tool icon, and FIG. 5E shows an example of a subroutine icon. この発明の実施の形態１に係る教示装置に表示される初期の教示画面の一例を示す図である。FIG. 4 is a diagram illustrating an example of an initial teaching screen displayed on the teaching device according to the first embodiment of the present invention. この発明の実施の形態１に係る教示装置に表示される教示画面での機能アイコンの操作の一例を説明する図である。FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention. この発明の実施の形態１に係る教示装置に表示される教示画面での機能アイコンの操作の一例を説明する図である。FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention. この発明の実施の形態１に係る教示装置に表示される教示画面での機能アイコンの操作の一例を説明する図である。FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention. この発明の実施の形態１に係る教示装置に表示される教示画面での機能アイコンの操作の一例を説明する図である。FIG. 4 is a diagram illustrating an example of operation of a function icon on a teaching screen displayed on the teaching device according to the first embodiment of the present invention. 図１１Ａ～図１１Ｄは、この発明の実施の形態１における教示装置で用いられる通過点アイコンの一例を示す図である。11A to 11D are diagrams showing an example of a passing point icon used in the teaching device according to the first embodiment of the present invention. 図１２Ａ～図１２Ｃは、この発明の実施の形態１に係るロボットの通過点でのフランジの角度を説明する図である。12A to 12C are diagrams illustrating the angle of the flange at the passing point of the robot according to Embodiment 1 of the present invention. 図１３Ａ、図１３Ｂは、この発明の実施の形態１に係るロボットの通過点に対する接近距離を説明する図である。FIGS. 13A and 13B are diagrams illustrating the approach distance of the robot according to the first embodiment of the present invention with respect to the passing point. 図１４Ａ～図１４Ｄは、この発明の実施の形態１における教示装置で用いられる移動アイコンの一例を示す図である。FIGS. 14A to 14D are diagrams illustrating an example of the movement icon used in the teaching device according to the first embodiment of the present invention. この発明の実施の形態１における教示装置で用いられる一時停止アイコンの一例を示す図である。FIG. 4 is a diagram illustrating an example of a pause icon used in the teaching device according to the first embodiment of the present invention. 図１６Ａ～図１６Ｃは、この発明の実施の形態１における教示装置で用いられるツールアイコンの一例を示す図である。FIGS. 16A to 16C are diagrams showing an example of a tool icon used in the teaching device according to the first embodiment of the present invention. 図１７Ａ～図１７Ｃは、この発明の実施の形態１における教示装置で用いられるサブルーチンアイコンの一例を示す図である。17A to 17C are diagrams showing an example of a subroutine icon used in the teaching device according to Embodiment 1 of the present invention. 図１８Ａ、図１８Ｂは、この発明の実施の形態１における教示装置で用いられるサブルーチンアイコンが有する状態ウィンドウの一例を説明する図である。18A and 18B are diagrams illustrating an example of a status window of a subroutine icon used in the teaching device according to Embodiment 1 of the present invention. 図１９Ａ～図１９Ｃは、この発明の実施の形態１における教示装置で用いられるサブルーチンアイコンが有する詳細ボタンの一例を説明する図である。FIGS. 19A to 19C are diagrams illustrating an example of a detail button included in a subroutine icon used in the teaching device according to the first embodiment of the present invention. この発明の実施の形態１における教示装置に表示されるサブルーチンアイコンの保存の一例を示す図である。FIG. 4 is a diagram showing an example of saving a subroutine icon displayed on the teaching device according to the first embodiment of the present invention. この発明の実施の形態２に係る教示装置に表示される教示画面の一例を示す図である。It is a figure which shows an example of the teaching screen displayed on the teaching device which concerns on Embodiment 2 of this invention. この発明の実施の形態２に係る教示装置に表示される３Ｄプレビューウィンドウの一例を示す図である。FIG. 11 is a diagram showing an example of a 3D preview window displayed on the teaching device according to Embodiment 2 of the present invention. この発明の実施の形態２に係る教示装置に表示される３Ｄプレビューウィンドウの一例を示す図である。FIG. 11 is a diagram showing an example of a 3D preview window displayed on the teaching device according to Embodiment 2 of the present invention. 図２４Ａ、図２４Ｂは、この発明の実施の形態１，２に係る教示装置のハードウェア構成例を示す図である。FIGS. 24A and 24B are diagrams illustrating a hardware configuration example of the teaching device according to the first and second embodiments of the present invention. ロボットの動作の一例を説明する図である。FIG. 5 is a diagram illustrating an example of the operation of the robot. プログラム言語による制御プログラムの一例を示す図である。FIG. 4 is a diagram illustrating an example of a control program in a programming language.
　以下、この発明の実施の形態について図面を参照しながら詳細に説明する。
実施の形態１．
　図１はこの発明の実施の形態１に係る教示システムの構成例を示す図である。図１では、各装置に対する電源供給については図示を省略している。
　教示システムは、図１に示すように、ロボット１、ロボット制御装置２及び教示装置３を備えている。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration example of a teaching system according to Embodiment 1 of the present invention. 1, illustration of power supply to each device is omitted.
The teaching system includes a robot 1, a robot control device 2, and a teaching device 3, as shown in FIG.
　ロボット１は、ロボット制御装置２から出力された動作制御信号に応じて駆動するアーム１０１を有し、反復運動又は高速運動等の運動を行う。 The robot 1 has the arm 101 driven in accordance with the operation control signal output from the robot control device 2, and performs a motion such as a repetitive motion or a high-speed motion.
　図２に示すように、アーム１０１は、ロボット１の軸と軸とを結ぶ筐体及び末端の軸から延びる筐体を指す。また、軸は、ロボット１が有する回転運動する駆動装置の回転中心を指す。また、軸は、回転運動を直線運動に変える駆動装置の移動軌跡も含む。軸の数は、ロボット１の種別に応じて異なる。図２Ａは６軸（Ｊ１～Ｊ６）を有するロボット１を示し、図２Ｂは４軸（Ｊ１～Ｊ４）を有するロボット１を示し、図２Ｃは４軸（Ｊ１～Ｊ４）を有するロボット１を示している。図２において、Ｊ１はロボット１の据付部に最も近い軸である。 As shown in FIG. 2, the arm 101 indicates a casing connecting the axes of the robot 1 and a casing extending from a terminal axis. The axis indicates the center of rotation of the driving device of the robot 1 that rotates. The axis also includes the trajectory of the drive that changes the rotary motion into a linear motion. The number of axes differs depending on the type of the robot 1. 2A shows the robot 1 having six axes (J1 to J6), FIG. 2B shows the robot 1 having four axes (J1 to J4), and FIG. 2C shows the robot 1 having four axes (J1 to J4). ing. In FIG. 2, J1 is the axis closest to the installation part of the robot 1.
　また、図３に示すように、ロボット１には、末端のアーム１０１にフランジ１０２を介してツール１０３が取付けられている。フランジ１０２は、末端のアーム１０１におけるツール１０３を固定する箇所を指す。また、ツール１０３は、フランジ１０２に固定され、組立、搬送又はバリ取り等の作業を行う装置を指す。ツール１０３は、作業に応じて各種存在する。図３Ａはワーク４を把持するタイプのツール１０３であるハンドを示し、図３Ｂは工具１０４を把持するタイプのツール１０３を示している。図３Ｂでは、工具１０４としてグラインダーを示している。また、ツール１０３としては、上記の他にも、例えば、ワーク４を吸引力により保持するタイプのツール１０３であるバキュームが挙げられる。また、工具１０４としては、上記の他にも、例えばスプレーが挙げられる。 ツ ー ル As shown in FIG. 3, the robot 1 has a tool 103 attached to a distal arm 101 via a flange 102. The flange 102 points to a place on the distal arm 101 where the tool 103 is fixed. The tool 103 is a device that is fixed to the flange 102 and performs operations such as assembly, transport, and deburring. There are various types of tools 103 depending on the operation. FIG. 3A shows a hand which is a tool 103 of a type for gripping the work 4, and FIG. 3B shows a tool 103 of a type for gripping the tool 104. FIG. 3B shows a grinder as the tool 104. In addition, as the tool 103, in addition to the above, for example, a vacuum, which is a type of tool 103 that holds the work 4 by a suction force, may be used. Further, as the tool 104, for example, a spray may be used in addition to the above.
　なお、ワーク４は、ロボット１の作業対象を指す。ロボット１による作業が組立又は搬送である場合には、ワーク４は、図３Ａのようにハンドが掴む対象を指す。また、ロボット１による作業がバリ取りである場合には、ワーク４は、図３Ｂのようにグラインダーを押し当てる対象を指す。 ワ ー ク The work 4 indicates a work target of the robot 1. When the operation by the robot 1 is assembling or transporting, the work 4 indicates a target to be gripped by the hand as shown in FIG. 3A. When the work by the robot 1 is deburring, the work 4 indicates a target to which the grinder is pressed as shown in FIG. 3B.
　また、図３における符号１１は、制御点を示している。制御点は、ツール１０３の先端の１点を指す。制御点は、ハンドの場合には把持する点を指し、工具１０４を把持するタイプのツール１０３の場合には工具１０４の加工する点を指す。 符号 Further, the reference numeral 11 in FIG. 3 indicates a control point. The control point indicates one point at the tip of the tool 103. The control point indicates a point to be gripped in the case of a hand, and indicates a point to be processed by the tool 104 in the case of the type of tool 103 that grips the tool 104.
　ロボット制御装置２は、教示装置３から読出した制御プログラムに基づいて動作制御信号を生成し、当該動作制御信号をロボット１に出力する。制御プログラムは、ロボット１を動作させるためのプログラムであり、通過点、動作順序、動作タイミング又は条件付き動作等のロボット１の駆動に係る指令データを指す。
　このロボット制御装置２は、図１に示すように、プログラム読出し部２０１、動作制御信号生成部２０２及び動作制御信号出力部２０３を備えている。 The robot control device 2 generates an operation control signal based on the control program read from the teaching device 3, and outputs the operation control signal to the robot 1. The control program is a program for operating the robot 1, and indicates command data related to driving of the robot 1, such as a passing point, an operation sequence, an operation timing, or a conditional operation.
As shown in FIG. 1, the robot control device 2 includes a program reading unit 201, an operation control signal generation unit 202, and an operation control signal output unit 203.
　プログラム読出し部２０１は、教示装置３の後述するプログラム保存部３０４から制御プログラムを読出す。
　動作制御信号生成部２０２は、プログラム読出し部２０１により読出された制御プログラムに基づいて動作制御信号を生成する。
　動作制御信号出力部２０３は、動作制御信号生成部２０２により生成された動作制御信号をロボット１に出力する。 The program reading section 201 reads a control program from a program storage section 304 of the teaching device 3 described later.
The operation control signal generator 202 generates an operation control signal based on the control program read by the program reader 201.
The operation control signal output unit 203 outputs the operation control signal generated by the operation control signal generation unit 202 to the robot 1.
　なお、ロボット１及びロボット制御装置２の構成及び動作は、従来から知られているロボット及びロボット制御装置の構成及び動作と同様である。 The configurations and operations of the robot 1 and the robot controller 2 are the same as the configurations and operations of the conventionally known robot and robot controller.
　教示装置３は、ユーザによる操作に応じて制御プログラムを作成する装置である。なお、教示装置３による制御プログラムの作成は、制御プログラムの新規作成又は制御プログラムの修正を意味する。この教示装置３としては、ロボット専用教示装置、ロボット教示ソフトウェアをインストールした汎用パソコン又はタブレット端末等が用いられる。また、ユーザは、教示装置３を操作する教示者である。
　この教示装置３は、図１に示すように、表示部３０１、入力部３０２、プログラム生成部３０３及びプログラム保存部３０４を備えている。 The teaching device 3 is a device that creates a control program according to a user's operation. The creation of the control program by the teaching device 3 means a new creation of the control program or a modification of the control program. As the teaching device 3, a dedicated teaching device for a robot, a general-purpose personal computer or a tablet terminal on which robot teaching software is installed, or the like is used. The user is a teacher who operates the teaching device 3.
As shown in FIG. 1, the teaching device 3 includes a display unit 301, an input unit 302, a program generation unit 303, and a program storage unit 304.
　表示部３０１は、プログラム生成部３０３により生成された教示画面６を表示する。
　入力部３０２は、表示部３０１に表示された教示画面６に対し、ユーザによる操作を受付ける。 The display unit 301 displays the teaching screen 6 generated by the program generation unit 303.
The input unit 302 accepts a user's operation on the teaching screen 6 displayed on the display unit 301.
　プログラム生成部３０３は、表示部３０１に表示させる教示画面６を生成し、入力部３０２により受付けられた操作に応じて教示画面６の更新等の各種処理を行って制御プログラムを作成する。このプログラム生成部３０３は、図４に示すように、データ記憶部３０５、画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９を有している。 (4) The program generation unit 303 generates the teaching screen 6 to be displayed on the display unit 301, and performs various processes such as updating the teaching screen 6 according to the operation received by the input unit 302 to create a control program. As shown in FIG. 4, the program generation unit 303 includes a data storage unit 305, a screen generation unit 306, a function icon display unit 307, a setting unit 308, and a program generation unit 309.
　データ記憶部３０５は、機能アイコン５に関するデータを記憶する。
　機能アイコン５は、制御プログラムを構成する機能を表すアイコンであり、当該機能を想起させるようにグラフィカルに表現された外観５０１を有するアイコンである。また、機能アイコン５は、ロボット教示に特化したパラメータの設定を可能とする機能を有する。この機能アイコン５の詳細については後述する。機能アイコン５としては、図５に示すように、例えば、通過点アイコン５ａ、移動アイコン５ｂ、一時停止アイコン５ｃ、ツールアイコン５ｄ及びサブルーチンアイコン５ｅが挙げられる。また、機能アイコン５に関するデータとしては、機能アイコン５の外観５０１に用いられる図案、機能アイコン５が表す機能のパラメータ、及び、当該機能をプログラム言語により文字列で記述したプログラム等を示すデータが含まれる。 The data storage unit 305 stores data relating to the function icons 5.
The function icon 5 is an icon representing a function constituting the control program, and is an icon having an appearance 501 graphically represented so as to recall the function. The function icon 5 has a function that enables setting of parameters specialized for robot teaching. Details of the function icon 5 will be described later. As illustrated in FIG. 5, the function icons 5 include, for example, a passing point icon 5a, a moving icon 5b, a pause icon 5c, a tool icon 5d, and a subroutine icon 5e. The data related to the function icon 5 includes a pattern used for the appearance 501 of the function icon 5, parameters of the function represented by the function icon 5, and data indicating a program in which the function is described by a character string in a program language. It is.
　なお、機能アイコン５及び機能アイコン５の構成を示す符号について、機能アイコン５の種別毎に区別する必要がある場合には接尾記号（ａ，ｂ，・・・，ｅ）を付し、区別する必要がない場合には接尾記号を付さないものとする。 When it is necessary to distinguish the function icons 5 and the codes indicating the configurations of the function icons 5 for each type of the function icons 5, the suffixes (a, b,..., E) are added to distinguish them. No suffix shall be added if not required.
　また、データ記憶部３０５は、ロボット１及び周辺環境を示す３Ｄデータを記憶してもよい。なお、周辺環境は、ロボット１が設置される空間、並びに、当該空間における床、柱、台、関連する機器、配線又はワーク４等の物品全てを総称したものを指す。また、３Ｄデータは、ロボット１及び周辺環境の外形、位置又は動きを数値化した仮想三次元空間上の立体データを指す。 (4) The data storage unit 305 may store 3D data indicating the robot 1 and the surrounding environment. In addition, the surrounding environment refers to a space in which the robot 1 is installed, and a general term for all articles such as a floor, a pillar, a table, related devices, wiring, and a work 4 in the space. In addition, the 3D data refers to three-dimensional data in a virtual three-dimensional space in which the outer shape, position, or movement of the robot 1 and the surrounding environment is digitized.
　画面生成部３０６は、データ記憶部３０５に記憶されているデータを用いて、教示画面６を生成する。実施の形態１における教示画面６は、選択領域（第１の領域）６０２及び作成領域（第２の領域）６０３を有するビジュアルプログラムウィンドウ６０１である。選択領域６０２は、画面生成部３０６によりデータ記憶部３０５に記憶されているデータから作成された基本となる機能アイコン５が表示された領域である。作成領域６０３は、機能アイコン表示部３０７により選択領域６０２で選択された機能アイコン５が複製された機能アイコン５が配置される領域である。 (4) The screen generation unit 306 generates the teaching screen 6 using the data stored in the data storage unit 305. The teaching screen 6 according to the first embodiment is a visual program window 601 having a selection area (first area) 602 and a creation area (second area) 603. The selection area 602 is an area where the basic function icons 5 created from the data stored in the data storage unit 305 by the screen generation unit 306 are displayed. The creation area 603 is an area where the function icons 5 in which the function icons 5 selected in the selection area 602 by the function icon display unit 307 are duplicated are arranged.
　機能アイコン表示部３０７は、入力部３０２により受付けられた操作に応じ、データ記憶部３０５に記憶されているデータを用いて、画面生成部３０６により生成された教示画面６の作成領域６０３に機能アイコン５を配置する。この際、機能アイコン表示部３０７は、選択領域６０２から機能アイコン５を選択し、当該機能アイコン５を複製した機能アイコン５を作成領域６０３に配置する。
　また、機能アイコン表示部３０７は、設定部３０８による設定に応じ、データ記憶部３０５に記憶されているデータを用いて、作成領域６０３に配置した機能アイコン５の外観５０１を変更する。 The function icon display unit 307 displays a function icon in the creation area 603 of the teaching screen 6 generated by the screen generation unit 306 using the data stored in the data storage unit 305 in accordance with the operation received by the input unit 302. 5 is arranged. At this time, the function icon display unit 307 selects the function icon 5 from the selection area 602 and arranges the function icon 5 obtained by duplicating the function icon 5 in the creation area 603.
Further, the function icon display unit 307 changes the appearance 501 of the function icon 5 arranged in the creation area 603 using the data stored in the data storage unit 305 according to the setting by the setting unit 308.
　設定部３０８は、入力部３０２による受付けられた操作に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 The setting unit 308 sets parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 according to the operation received by the input unit 302.
　プログラム作成部３０９は、データ記憶部３０５に記憶されているデータを用いて、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５及び設定部３０８による設定に基づいて、制御プログラムを作成する。 The program creating unit 309 creates a control program using the data stored in the data storage unit 305 based on the function icons 5 arranged in the creation area 603 by the function icon display unit 307 and the settings made by the setting unit 308. I do.
　プログラム保存部３０４は、プログラム作成部３０９により作成された制御プログラムを保存する。 The program storage unit 304 stores the control program created by the program creation unit 309.
　なお、プログラム保存部３０４及びデータ記憶部３０５としては、例えば、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）、フラッシュメモリ、ＥＰＲＯＭ（Ｅｒａｓａｂｌｅ　Ｐｒｏｇｒａｍｍａｂｌｅ　ＲＯＭ）、ＥＥＰＲＯＭ（Ｅｌｅｃｔｒｉｃａｌｌｙ　ＥＰＲＯＭ）等の不揮発性又は揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、又はＤＶＤ（Ｄｉｇｉｔａｌ　Ｖｅｒｓａｔｉｌｅ　Ｄｉｓｃ）等が該当する。 As the program storage unit 304 and the data storage unit 305, for example, a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (Electrically EPROM), or the like A volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or the like is applicable.
　また、図１，４では、表示部３０１、入力部３０２、プログラム保存部３０４及びデータ記憶部３０５が教示装置３の内部に設けられた場合を示している。しかしながら、これに限らず、表示部３０１、入力部３０２、プログラム保存部３０４及びデータ記憶部３０５は教示装置３の外部に設けられていてもよい。 1 and 4 show a case where the display unit 301, the input unit 302, the program storage unit 304, and the data storage unit 305 are provided inside the teaching device 3. However, the invention is not limited thereto, and the display unit 301, the input unit 302, the program storage unit 304, and the data storage unit 305 may be provided outside the teaching device 3.
　次に、実施の形態１に係る教示装置３による制御プログラムの作成方法について説明する。
　実施の形態１に係る教示装置３は、まず、教示画面６を表示する。そして、教示装置３は、ユーザによる操作に応じ、教示画面６の選択領域６０２から機能アイコン５を選択し、当該機能アイコン５を複製した機能アイコン５を作成領域６０３に並べる。そして、教示装置３は、作成領域６０３に配置した機能アイコン５が表す機能のパラメータを設定し、その設定に応じて機能アイコン５の外観５０１を変更する。そして、教示装置３は、作成領域６０３に配置した機能アイコン５及び当該機能アイコン５が表す機能に対して設定したパラメータから、制御プログラムを作成する。これにより、ユーザは、プログラム言語の文法の知識を必要とせずに、制御プログラムを容易に作成可能となる。 Next, a method of creating a control program by the teaching device 3 according to the first embodiment will be described.
First, the teaching device 3 according to the first embodiment displays the teaching screen 6. Then, the teaching device 3 selects the function icon 5 from the selection area 602 of the teaching screen 6 according to the operation by the user, and arranges the function icons 5 obtained by duplicating the function icon 5 in the creation area 603. Then, the teaching device 3 sets a parameter of the function represented by the function icon 5 arranged in the creation area 603, and changes the appearance 501 of the function icon 5 according to the setting. Then, the teaching device 3 creates a control program from the function icons 5 arranged in the creation area 603 and the parameters set for the function represented by the function icons 5. Thus, the user can easily create the control program without requiring knowledge of the grammar of the programming language.
　教示装置３に表示される初期の教示画面６の一例を図６に示す。
　図６に示すように、画面生成部３０６は、選択領域６０２に、基本となる機能アイコン５を表示する。図６に示す教示画面６では、選択領域６０２に、通過点アイコン５ａ、一時停止アイコン５ｃ、ツールアイコン５ｄ及びサブルーチンアイコン５ｅが表示されている。なお、画面生成部３０６は、選択領域６０２に表示する機能アイコン５の外観５０１として、事前に設定した図案を用いる。例えば、図６に示す教示画面６では、ツールアイコン５ｄの外観５０１ｄとして、ハンドの形状を模した図案が用いられている。また、設定部３０８は、画面生成部３０６により選択領域６０２に表示された機能アイコン５が表す機能のパラメータに対して基準値を設定している。また、初期の教示画面６では、作成領域６０３に機能アイコン５は配置されていない。 FIG. 6 shows an example of an initial teaching screen 6 displayed on the teaching device 3.
As shown in FIG. 6, the screen generation unit 306 displays the basic function icons 5 in the selection area 602. In the teaching screen 6 shown in FIG. 6, a passing point icon 5a, a pause icon 5c, a tool icon 5d, and a subroutine icon 5e are displayed in the selection area 602. The screen generation unit 306 uses a preset design as the appearance 501 of the function icon 5 displayed in the selection area 602. For example, in the teaching screen 6 shown in FIG. 6, a design imitating the shape of the hand is used as the appearance 501d of the tool icon 5d. Further, the setting unit 308 sets a reference value for a parameter of the function represented by the function icon 5 displayed in the selection area 602 by the screen generation unit 306. Further, in the initial teaching screen 6, the function icon 5 is not arranged in the creation area 603.
　また、図６に示す教示画面６では、画面生成部３０６が、選択領域６０２において、機能アイコン５の上部に、当該機能アイコン５の名称を表示している。図６の示す教示画面６では、移動アイコン５ｂの上部に「ＰＯＳＩＴＩＯＮ」の文字が表示されている。また、図６の示す教示画面６では、一時停止アイコン５ｃの上部に「ＤＥＬＡＹ」の文字が表示されている。また、図６の示す教示画面６では、ツールアイコン５ｄの上部に「ＨＡＮＤ」の文字が表示されている。また、図６の示す教示画面６では、サブルーチンアイコン５ｅの上部に「ＳＵＢＲＯＵＴＩＮＥ」の文字が表示されている。 In the teaching screen 6 shown in FIG. 6, the screen generation unit 306 displays the name of the function icon 5 above the function icon 5 in the selection area 602. In the teaching screen 6 shown in FIG. 6, the characters "POSITION" are displayed above the movement icon 5b. Further, on the teaching screen 6 shown in FIG. 6, the characters "DELAY" are displayed above the pause icon 5c. Further, on the teaching screen 6 shown in FIG. 6, the character "HAND" is displayed above the tool icon 5d. In addition, in the teaching screen 6 shown in FIG. 6, the letters "SUBBROUTINE" are displayed above the subroutine icon 5e.
　また、図６に示す教示画面６では、画面生成部３０６が、作成領域６０３に、制御プログラムの開始点及び終了点を示す表示を行っている。図６に示す教示画面６では、作成領域６０３において、制御プログラムの開始点の箇所に「ＳＴＡＲＴ」の文字が表示され、制御プログラムの終了点の箇所に「ＥＮＤ」の文字が表示されている。
　また、図６に示す教示画面６では、画面生成部３０６が、作成領域６０３において、制御プログラムの開始点と終了点との間に、仕切り線６０４を表示している。 In the teaching screen 6 shown in FIG. 6, the screen generation unit 306 displays in the creation area 603 the start point and the end point of the control program. In the teaching screen 6 shown in FIG. 6, in the creation area 603, the character "START" is displayed at the start point of the control program, and the character "END" is displayed at the end point of the control program.
In the teaching screen 6 shown in FIG. 6, the screen generation unit 306 displays a partition line 604 between the start point and the end point of the control program in the creation area 603.
　そして、図７に矢印１２で示すように、機能アイコン表示部３０７は、選択領域６０２に表示された機能アイコン５に対するユーザによるドラッグに応じ、当該機能アイコンと同一の機能アイコン５を複製して作成領域６０３に移動させる。 Then, as indicated by the arrow 12 in FIG. 7, the function icon display unit 307 duplicates and creates the same function icon 5 as the function icon 5 in response to the user dragging the function icon 5 displayed in the selection area 602. Move to area 603.
　その後、矢印１３で示すように、機能アイコン表示部３０７が、機能アイコン５を、制御プログラムの開始点の表示と終了点の表示との間に対して既定範囲内に近づけたとする。この場合、画面生成部３０６は、開始点の表示と終了点の表示との間の隙間を広げる。図７に示す教示画面６では、画面生成部３０６が、開始点の表示と終了点の表示との間の仕切り線６０４を２つに分割し、その間に隙間を設けている。また、図７に示す教示画面６では、画面生成部３０６が、開始点の表示、終了点の表示及び仕切り線６０４を斜めに傾けている。これらにより、ユーザは、開始点の表示と終了点の表示との間に機能アイコン５をドロップすればよいと理解でき、取扱い説明書が無くても操作可能となる。
　その後、機能アイコン表示部３０７は、ユーザにより機能アイコン５が開始点の表示と終了点の表示との間でドロップされると、当該機能アイコン５を開始点の表示と終了点の表示との間に配置する。 Thereafter, as indicated by an arrow 13, it is assumed that the function icon display unit 307 brings the function icon 5 closer to a predetermined range between the display of the start point and the end point of the control program. In this case, the screen generation unit 306 widens the gap between the display of the start point and the display of the end point. In the teaching screen 6 illustrated in FIG. 7, the screen generation unit 306 divides a partition line 604 between the display of the start point and the display of the end point into two, and provides a gap therebetween. In the teaching screen 6 shown in FIG. 7, the screen generation unit 306 tilts the display of the start point, the display of the end point, and the partition line 604. Thus, the user can understand that the function icon 5 should be dropped between the display of the start point and the display of the end point, and the user can operate without the instruction manual.
Thereafter, when the user drops the function icon 5 between the display of the start point and the display of the end point, the function icon display unit 307 displays the function icon 5 between the display of the start point and the display of the end point. To place.
　また、図８に矢印１４で示すように、機能アイコン表示部３０７が、機能アイコン５を、作成領域６０３に既に配置した機能アイコン５と制御プログラムの終了点の表示との間に対して既定範囲内に近づけたとする。この場合、画面生成部３０６及び機能アイコン表示部３０７は、上記と同様に、既に配置した機能アイコン５と終了点の表示との間の隙間を広げる。図８に示す教示画面６では、画面生成部３０６が、既に配置された機能アイコン５と終了点の表示との間の仕切り線６０４を２つに分割し、その間に隙間を設けている。また、図８に示す教示画面６では、画面生成部３０６及び機能アイコン表示部３０７が、既に配置した機能アイコン５、終了点の表示及び仕切り線６０４を斜めに傾けている。
　その後、機能アイコン表示部３０７は、ユーザにより機能アイコン５が既に配置した機能アイコン５と終了点の表示との間でドロップされると、当該機能アイコン５を既に配置した機能アイコン５と終了点の表示との間に配置する。 Also, as indicated by an arrow 14 in FIG. 8, the function icon display unit 307 displays the function icon 5 in a predetermined range between the function icon 5 already arranged in the creation area 603 and the display of the end point of the control program. Suppose you have approached. In this case, the screen generation unit 306 and the function icon display unit 307 widen the gap between the already arranged function icons 5 and the display of the end point, as described above. In the teaching screen 6 shown in FIG. 8, the screen generation unit 306 divides the partition line 604 between the already arranged function icon 5 and the display of the end point into two, and provides a gap therebetween. In the teaching screen 6 shown in FIG. 8, the screen generation unit 306 and the function icon display unit 307 incline the already arranged function icons 5, the display of the end point, and the partition line 604.
Thereafter, when the user drops the function icon 5 between the already arranged function icon 5 and the display of the end point, the function icon display unit 307 displays the function icon 5 having the function icon 5 already arranged and the end point. Place it between the display.
　また、機能アイコン表示部３０７が、機能アイコン５を、制御プログラムの開始点の表示と作成領域６０３に既に配置した機能アイコン５との間に既定範囲内に近づけたとする。この場合についても、画面生成部３０６及び機能アイコン表示部３０７は上記と同様の動作を行う。
　また、図９に矢印１５で示すように、機能アイコン表示部３０７が、機能アイコン５を、作成領域６０３に既に配置した２つの機能アイコン５の間に既定範囲内に近づけたとする。この場合についても、機能アイコン表示部３０７は上記と同様に動作を行う。 It is also assumed that the function icon display unit 307 has brought the function icon 5 closer to a predetermined range between the display of the start point of the control program and the function icon 5 already arranged in the creation area 603. Also in this case, the screen generation unit 306 and the function icon display unit 307 perform the same operation as described above.
It is also assumed that the function icon display unit 307 has brought the function icon 5 closer to a predetermined range between the two function icons 5 already arranged in the creation area 603 as indicated by an arrow 15 in FIG. Also in this case, the function icon display unit 307 operates similarly to the above.
　なお、画面生成部３０６は、作成領域６０３において、制御プログラムとして機能アイコン５を配置可能な位置にのみ、挙動可能とする。また、機能アイコン表示部３０７は、作成領域６０３に既に配置した機能アイコン５のうち、制御プログラムとして機能アイコン５を配置可能な位置の前後に位置する機能アイコン５のみ挙動可能とする。これらにより、ユーザは、機能アイコン５を配置可能な位置を直感的に把握可能となり、また、制御プログラムのエラーを軽減可能となる。 The screen generation unit 306 can behave only in a position where the function icon 5 can be arranged as a control program in the creation area 603. Further, the function icon display unit 307 enables only the function icons 5 located before and after the position where the function icons 5 can be arranged as the control program among the function icons 5 already arranged in the creation area 603. Thus, the user can intuitively grasp the position where the function icon 5 can be arranged, and can reduce the error of the control program.
　また、図１０に矢印１６で示すように、機能アイコン表示部３０７は、作成領域６０３に既に配置した機能アイコン５を別の位置に移動させることも可能である。この場合についても、画面生成部３０６及び機能アイコン表示部３０７の動作は上記と同様である。これにより、ユーザは、制御プログラムの吟味が可能となる。また、ユーザは、教示装置３の操作に一貫性があるため、取扱い説明書が無くても操作可能となる。 As shown by the arrow 16 in FIG. 10, the function icon display unit 307 can also move the function icons 5 already arranged in the creation area 603 to another position. Also in this case, the operations of the screen generation unit 306 and the function icon display unit 307 are the same as described above. Thus, the user can examine the control program. In addition, since the operation of the teaching device 3 is consistent, the user can operate without the instruction manual.
　次に、教示装置３で用いられる機能アイコン５について説明する。
　図５に示すように、機能アイコン５は、機能を想起させるようにグラフィカルに表現された外観５０１を有する。また、機能アイコン５は、一つ以上の状態ウィンドウ５０２を有する。更に、機能アイコン５は、必要に応じて、詳細ボタン５０３を有する。なお、詳細ボタン５０３は、機能アイコン５の種別に依らず同じ外観でもよい。 Next, the function icons 5 used in the teaching device 3 will be described.
As shown in FIG. 5, the function icon 5 has an appearance 501 that is graphically represented so as to recall the function. The function icon 5 has one or more status windows 502. Further, the function icon 5 has a detail button 503 as necessary. The detail button 503 may have the same appearance regardless of the type of the function icon 5.
　状態ウィンドウ５０２は、機能アイコン５が表す機能のパラメータの設定概要を文字又は数値で表示するウィンドウである。この状態ウィンドウ５０２に表示される文字又は数値は、ユーザによる選択又は入力により変更可能である。
　そして、設定部３０８は、機能アイコン表示部３０７により表示された状態ウィンドウ５０２に対するユーザによる設定に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 The status window 502 is a window that displays a summary of parameter settings of the function represented by the function icon 5 in characters or numerical values. The characters or numerical values displayed in the status window 502 can be changed by selection or input by the user.
Then, the setting unit 308 sets the parameters of the function represented by the function icons 5 arranged in the creation area 603 by the function icon display unit 307 according to the setting by the user for the status window 502 displayed by the function icon display unit 307. .
　また、機能アイコン表示部３０７は、作成領域６０３に配置した機能アイコン５においてユーザにより詳細ボタン５０３が選択された場合に、当該機能アイコン５の近傍に、ポップアップウィンドウ５０４を表示する。ポップアップウィンドウ５０４は、機能アイコン５が表す機能のパラメータを設定可能とするウィンドウである。このポップアップウィンドウ５０４に表示されるパラメータは、ユーザによる選択又は入力により変更可能である。
　そして、設定部３０８は、機能アイコン表示部３０７により表示されたポップアップウィンドウ５０４に対するユーザによる設定に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 In addition, when the user selects the detail button 503 in the function icons 5 arranged in the creation area 603, the function icon display unit 307 displays a pop-up window 504 near the function icons 5. The pop-up window 504 is a window in which the parameters of the function represented by the function icon 5 can be set. The parameters displayed in the pop-up window 504 can be changed by selection or input by the user.
Then, the setting unit 308 sets the parameters of the function represented by the function icons 5 arranged in the creation area 603 by the function icon display unit 307 according to the setting by the user for the pop-up window 504 displayed by the function icon display unit 307. .
　この機能アイコン５により、ユーザは、プログラム言語の変数名又は変数毎の記述内容の知識を必要とせずに、制御プログラムを作成可能となる。また、機能アイコン５の外観５０１及び状態ウィンドウ５０２の表示によって、ユーザは、制御プログラムの全体構成を直感的に効率的に把握できる。また、教示装置３は、設定部３０８による設定項目を複数の階層に分け、上位の階層については状態ウィンドウ５０２で表示し、下位の階層については詳細ボタン５０３が選択された場合にのみポップアップウィンドウ５０４で表示する。これにより、ユーザは、視覚的な煩雑さが軽減され、制御プログラムの構成を把握し易くなる。
　以下、図５に示した機能アイコン５の詳細についてそれぞれ説明する。 The function icon 5 allows the user to create a control program without having to know the variable names of the programming language or the description contents of each variable. Further, by displaying the appearance 501 of the function icon 5 and the display of the status window 502, the user can intuitively and efficiently grasp the entire configuration of the control program. Also, the teaching device 3 divides the setting items by the setting unit 308 into a plurality of layers, displays the upper layer in the status window 502, and displays the lower layer in the pop-up window 504 only when the detail button 503 is selected. To display. Thus, the user can reduce the visual complexity and easily understand the configuration of the control program.
Hereinafter, details of the function icons 5 shown in FIG. 5 will be described.
　まず、通過点アイコン５ａについて、図１１を参照しながら説明する。
　通過点アイコン５ａは、ロボット１の制御点が通過する点である通過点を表すアイコンである。図１１Ａに示すように、通過点アイコン５ａの外観５０１ａは、円形等の図案であり、特定の座標の点を示すことを表現する。なお、座標は、ロボット１に対して決定した任意の原点からの、互いに直交する３方向における距離を表したものである。 First, the passing point icon 5a will be described with reference to FIG.
The passing point icon 5a is an icon representing a passing point that is a point through which the control point of the robot 1 passes. As shown in FIG. 11A, the appearance 501a of the passing point icon 5a is a pattern such as a circle, and expresses that it indicates a point of specific coordinates. Note that the coordinates represent distances in three directions orthogonal to each other from an arbitrary origin determined for the robot 1.
　また、通過点アイコン５ａが有する状態ウィンドウ５０２ａは、通過点の名称を表示する。この状態ウィンドウ５０２ａに表示される通過点の名称は、ユーザによる文字入力により変更可能である。
　また、設定部３０８は、機能アイコン表示部３０７により通過点アイコン５ａが作成領域６０３に配置された場合に、通過点の名称を自動的に設定してもよい。例えば、機能アイコン表示部３０７により１つ目の通過点アイコン５ａが作成領域６０３に配置された場合、設定部３０８は、当該通過点アイコン５ａが表す通過点の名称を「Ｐ０１」等としてもよい。その後、機能アイコン表示部３０７により２つ目の通過点アイコン５ａが作成領域６０３に配置された場合、設定部３０８は、当該通過点アイコン５ａが表す通過点の名称を連番で「Ｐ０２」等としてもよい。 The state window 502a of the passing point icon 5a displays the name of the passing point. The name of the passing point displayed in the status window 502a can be changed by character input by the user.
The setting unit 308 may automatically set the name of the passing point when the passing icon 5a is arranged in the creation area 603 by the function icon display unit 307. For example, when the first pass point icon 5a is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 may set the name of the pass point represented by the pass point icon 5a to “P01” or the like. . Thereafter, when the second pass point icon 5a is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 sets the name of the pass point represented by the pass point icon 5a to a serial number such as "P02". It may be.
　また、機能アイコン表示部３０７は、複数の通過点アイコン５ａを作成領域６０３に配置した場合に、図１１Ｂに示すように、当該各通過点アイコン５ａが有する状態ウィンドウ５０２ａとしてプルダウンリストを表示する。このプルダウンリストは、上記各通過点アイコン５ａが表す通過点を選択可能とするリストである。図１１Ｂに示すプルダウンリストでは、通過点として「Ｐ０１」又は「Ｐ０２」が選択可能となっている。これにより、ユーザは、一つの通過点を何度も通過する経路を教示させ易くなる。 {Circle around (2)} When the plurality of passing point icons 5a are arranged in the creation area 603, the function icon display unit 307 displays a pull-down list as a status window 502a of each passing point icon 5a as shown in FIG. 11B. This pull-down list is a list that allows selection of the passing point represented by each of the passing point icons 5a. In the pull-down list shown in FIG. 11B, “P01” or “P02” can be selected as a passing point. This makes it easier for the user to teach a route that passes one pass point many times.
　また、設定部３０８は、機能アイコン表示部３０７により複数の通過点アイコン５ａが作成領域６０３に配置された場合、当該各通過点アイコン５ａが表す通過点が重ならないようにそれぞれの座標の初期値を自動でずらしてもよい。 When a plurality of passing point icons 5a are arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 sets initial values of the respective coordinates so that the passing points represented by the passing point icons 5a do not overlap. May be automatically shifted.
　また、作成領域６０３において、通過点アイコン５ａが有する詳細ボタン５０３ａがユーザにより選択されると、図１１Ｃに示すように、機能アイコン表示部３０７はポップアップウィンドウ５０４ａを表示する。図１１Ｃに示すポップアップウィンドウ５０４ａにおいて、Ｘ，Ｙ，Ｚの入力欄は、ロボット１の原点に対する通過点の座標を数値入力可能とする欄である。また、図１１Ｃに示すポップアップウィンドウ５０４ａにおいて、Ａ，Ｂ，Ｃの入力欄は、ロボット１の通過点でのフランジ１０２の角度を数値入力可能とする欄である。なお、Ａは、図１２Ａに示すように、通過点を通るＸ軸を回転軸とするフランジ１０２の角度である。また、Ｂは、図１２Ｂに示すように、通過点を通るＹ軸を回転軸とするフランジ１０２の角度である。Ｃは、図１２Ｃに示すように、通過点を通るＺ軸を回転軸とするフランジ１０２の角度である。なお、図１２において符号１７は通過点を示している。これにより、ユーザは、通過点でのツール１０３の向きを指定可能となる。 {Circle around (4)} When the user selects the detail button 503a of the passing point icon 5a in the creation area 603, the function icon display unit 307 displays a pop-up window 504a as shown in FIG. 11C. In the pop-up window 504a shown in FIG. 11C, the input fields of X, Y, and Z are fields in which the coordinates of the passing point with respect to the origin of the robot 1 can be input as numerical values. In the pop-up window 504a shown in FIG. 11C, the input fields of A, B, and C are fields in which the angle of the flange 102 at the passing point of the robot 1 can be numerically input. A is the angle of the flange 102 with the X axis passing through the passing point as the rotation axis, as shown in FIG. 12A. B is the angle of the flange 102 with the Y axis passing through the passing point as the rotation axis, as shown in FIG. 12B. C is the angle of the flange 102 with the Z axis passing through the passing point as the rotation axis, as shown in FIG. 12C. In FIG. 12, reference numeral 17 indicates a passing point. Thus, the user can specify the direction of the tool 103 at the passing point.
　また、設定部３０８が、プルダウンリストに対するユーザによる選択に応じて、通過点アイコン５ａが表す通過点を他の複数の通過点アイコン５ａが表す通過点と同一に設定したとする。この場合、機能アイコン表示部３０７は、図１１Ｄに示すように、上記通過点アイコン５ａに対して表示するポップアップウィンドウ５０４ａに、接近距離を入力可能とする入力欄を追加する。接近距離は、図１３に示すように、フランジ１０２の面に対して垂直な方向への通過点からの距離である。なお、図１３において符号１８は通過点を示している。また、通過点を中心にフランジ１０２へ近づく方向（図１３に示す矢印１９の方向）の距離はマイナスの数値とし、通過点を中心にフランジ１０２から遠ざかる方向（図１３に示す矢印２０の方向）の距離はプラスの数値とする。接近距離が０の場合には、その点は通過点である。そして、設定部３０８は、機能アイコン表示部３０７により表示されたポップアップウィンドウ５０４ａの入力欄に対するユーザによる入力に応じ、当該ポップアップウィンドウ５０４ａが表示された通過点アイコン５ａが表す通過点を変更する。すなわち、設定部３０８は、上記他の通過点アイコン５ａが表す通過点の座標に、接近距離に対する数値を加味した座標を、上記通過点アイコン５ａが表す通過点の座標とする。
　このように、教示装置３が接近距離を用いることで、元となる通過点の座標が変わった場合に、関連する通過点の座標に対してもその変更を自動的に反映できる。よって、ユーザは、元となる通過点の座標が変わった場合でも、関連する通過点に対する座標の変更を個々に行う必要がなくなり、操作が容易となる。 It is also assumed that the setting unit 308 has set the pass point represented by the pass point icon 5a to be the same as the pass points represented by the other pass point icons 5a in accordance with the selection of the pull-down list by the user. In this case, as shown in FIG. 11D, the function icon display unit 307 adds an input field that allows an approach distance to be input to the pop-up window 504a displayed for the passing point icon 5a. The approach distance is a distance from a passing point in a direction perpendicular to the plane of the flange 102, as shown in FIG. In FIG. 13, reference numeral 18 indicates a passing point. Further, the distance in the direction approaching the flange 102 around the passing point (the direction of the arrow 19 shown in FIG. 13) is a negative value, and the distance away from the flange 102 around the passing point (the direction of the arrow 20 shown in FIG. 13). Distance is a positive number. If the approach distance is 0, the point is a passing point. Then, the setting unit 308 changes the passing point represented by the passing point icon 5a on which the pop-up window 504a is displayed, in response to an input by the user in the input field of the pop-up window 504a displayed by the function icon display unit 307. That is, the setting unit 308 sets the coordinates of the passing point represented by the passing point icon 5a as the coordinates obtained by adding the numerical value for the approach distance to the coordinates of the passing point represented by the other passing point icon 5a.
In this way, when the teaching device 3 uses the approach distance, when the coordinates of the original passing point change, the change can be automatically reflected on the coordinates of the related passing point. Therefore, even when the coordinates of the original passing point have changed, the user does not need to individually change the coordinates of the related passing points, which facilitates the operation.
　また、機能アイコン表示部３０７は、設定部３０８により接近距離に対する数値が設定された場合、図１１Ｄに示すように、状態ウィンドウ５０２ａに、通過点の名称とともに上記数値を表示してもよい。図１１Ｄでは、設定部３０８が通過点の名称を「Ｐ０１」に設定し且つ接近距離を「－８．００」に設定し、機能アイコン表示部３０７が状態ウィンドウ５０２ａに「Ｐ０１，－８」と表示している。 In addition, when a numerical value for the approach distance is set by the setting unit 308, the function icon display unit 307 may display the numerical value together with the name of the passing point in the status window 502a as shown in FIG. 11D. In FIG. 11D, the setting unit 308 sets the name of the passing point to “P01” and sets the approach distance to “−8.00”, and the function icon display unit 307 displays “P01, −8” in the status window 502a. it's shown.
　また、機能アイコン表示部３０７は、設定部３０８により接近距離に対する数値が設定された場合、状態ウィンドウ５０２ａとして表示したプルダウンリストにより、当該接近距離が設定された通過点アイコン５ａが表す通過点も選択可能としてもよい。例えば図１１Ｄに示す例では、機能アイコン表示部３０７は、プルダウンリストにより、通過点として「Ｐ０１，－８」を選択可能としてもよい。 When a numerical value for the approach distance is set by the setting unit 308, the function icon display unit 307 also selects the pass point represented by the pass point icon 5a in which the approach distance is set, from the pull-down list displayed as the status window 502a. It may be possible. For example, in the example illustrated in FIG. 11D, the function icon display unit 307 may be able to select “P01, −8” as a passing point by using a pull-down list.
　次に、移動アイコン５ｂについて、図１４を参照しながら説明する。
　移動アイコン５ｂは、ロボット１の通過点から通過点への移動方式を表すアイコンである。図１４Ａ、図１４Ｂに示すように、移動アイコン５ｂの外観５０１ｂは、矢印等を模した図案であり、移動を表現する。
　なお、機能アイコン表示部３０７は、移動アイコン５ｂを作成領域６０３に単独では配置せず、通過点アイコン５ａを配置した際に当該通過点アイコン５ａの１つ前の工程に移動アイコン５ｂを自動的に配置してもよい。これにより、ユーザは、操作が容易となる。 Next, the movement icon 5b will be described with reference to FIG.
The movement icon 5b is an icon representing a method of moving the robot 1 from a passing point to a passing point. As shown in FIGS. 14A and 14B, the appearance 501b of the movement icon 5b is a pattern simulating an arrow or the like, and expresses movement.
Note that the function icon display unit 307 does not arrange the moving icon 5b alone in the creation area 603, but automatically places the moving icon 5b in the process immediately before the passing point icon 5a when the passing point icon 5a is arranged. May be arranged. This facilitates the operation for the user.
　また、移動アイコン５ｂが有する状態ウィンドウ５０２ｂは、移動方式の種別を表示する。また、機能アイコン表示部３０７は、図１４Ｃに示すように、状態ウィンドウ５０２ｂとして、移動方式の種別を選択可能とするプルダウンリストを表示する。移動方式としては、直線補間、関節補間又は円弧補間等が挙げられる。直線補間は、移動の軌跡が直線を保つ方式である。関節補間は、移動の軌跡がロボット１が有する各関節の運動の成り行きに任せて決定される方式である。円弧補間は、移動の軌跡が円弧を保つ方式である。図１４Ｃに示すプルダウンリストでは、移動方式の種別として、直線補間を意味する「直線」又は関節補間を意味する「関節」が選択可能となっている。 {Circle around (5)} The status window 502b of the movement icon 5b displays the type of the movement method. Further, as shown in FIG. 14C, the function icon display unit 307 displays, as the status window 502b, a pull-down list from which the type of the moving mode can be selected. Examples of the moving method include linear interpolation, joint interpolation, and arc interpolation. Linear interpolation is a method in which the locus of movement keeps a straight line. The joint interpolation is a method in which the trajectory of the movement is determined depending on the outcome of the motion of each joint of the robot 1. Circular interpolation is a method in which the locus of movement keeps a circular arc. In the pull-down list shown in FIG. 14C, “straight line” meaning linear interpolation or “joint” meaning joint interpolation can be selected as the type of movement method.
　また、機能アイコン表示部３０７は、設定部３０８により設定された移動方式に応じて、移動アイコン５ｂの外観５０１ｂを変更する。例えば、設定部３０８により移動方式が直線補間に設定された場合には、機能アイコン表示部３０７は、図１４Ａに示すように、移動アイコン５ｂの外観５０１ｂとして直線の矢印を模した図案を用いる。また、設定部３０８により移動方式が関節補間に設定された場合には、機能アイコン表示部３０７は、図１４Ｂに示すように、移動アイコン５ｂの外観５０１ｂとして波線の矢印を模した図案とする。これにより、ユーザは、移動アイコン５ｂの外観５０１ｂから移動方式を直感的に把握可能となる。 {Circle around (4)} The function icon display unit 307 changes the appearance 501b of the movement icon 5b according to the movement method set by the setting unit 308. For example, when the moving method is set to linear interpolation by the setting unit 308, the function icon display unit 307 uses a pattern imitating a linear arrow as the appearance 501b of the moving icon 5b, as shown in FIG. 14A. Further, when the movement method is set to the joint interpolation by the setting unit 308, the function icon display unit 307 adopts a pattern imitating a wavy arrow as the appearance 501b of the movement icon 5b, as shown in FIG. 14B. Thereby, the user can intuitively grasp the moving method from the appearance 501b of the moving icon 5b.
　また、作成領域６０３において、移動アイコン５ｂが有する詳細ボタン５０３ｂがユーザにより選択されると、図１４Ｄに示すように、機能アイコン表示部３０７はポップアップウィンドウ５０４ｂを表示する。このポップアップウィンドウ５０４ｂは、移動速度を設定可能とするウィンドウである。図１４Ｃに示すポップアップウィンドウ５０４ｂでは、移動速度を基準速度に対して何％とするかを示す数値を入力可能とする入力欄と、基準速度を示す数値を入力可能とする入力欄とを有している。 In addition, when the user selects the detail button 503b of the move icon 5b in the creation area 603, the function icon display unit 307 displays a pop-up window 504b as shown in FIG. 14D. The pop-up window 504b is a window in which the moving speed can be set. The pop-up window 504b shown in FIG. 14C has an input box for inputting a numerical value indicating how much the moving speed is to the reference speed, and an input box for inputting a numerical value indicating the reference speed. ing.
　また、設定部３０８は、移動アイコン５ｂの移動速度を基準速度以外の速度に設定した場合、機能アイコン表示部３０７により当該移動アイコン５ｂの後工程に配置された移動アイコン５ｂの移動速度も同一の速度に設定する。同様に、設定部３０８は、移動アイコン５ｂの移動速度を更に別の速度又は基準速度に設定した場合、機能アイコン表示部３０７により当該移動アイコン５ｂの後工程に配置された移動アイコン５ｂの移動速度も同一の速度に設定する。ロボット教示では、移動速度は、場所毎での設定が求められる場合もあるが、全体での設定が求められる場合の方が多いと考えられる。そこで、教示装置３は、移動アイコン５ｂに対して設定変更した移動速度を当該移動アイコン５ｂよりも後工程に位置する移動アイコン５ｂに対しても反映する。これにより、ユーザは、操作が容易となる。 When the moving speed of the moving icon 5b is set to a speed other than the reference speed, the setting unit 308 sets the moving speed of the moving icon 5b arranged in the subsequent process of the moving icon 5b by the function icon display unit 307 to the same speed. Set to speed. Similarly, when the moving speed of the moving icon 5b is set to another speed or the reference speed, the setting unit 308 sets the moving speed of the moving icon 5b arranged in a subsequent process of the moving icon 5b by the function icon display unit 307. Are also set to the same speed. In the robot teaching, the moving speed may be required to be set for each location, but it is considered that the moving speed is required to be set as a whole. Therefore, the teaching device 3 reflects the moving speed set and changed for the moving icon 5b also on the moving icon 5b located in a process subsequent to the moving icon 5b. This facilitates the operation for the user.
　次に、一時停止アイコン５ｃについて、図１５を参照しながら説明する。
　一時停止アイコン５ｃは、任意の時間だけ次の工程の実施を一時停止することを表すアイコンである。図１５に示すように、一時停止アイコン５ｃの外観５０１ｃは、時計等の図案であり、時間を表現する。また、図１５に示すように、機能アイコン表示部３０７は、一時停止アイコン５ｃ内に、時間の単位を表示してもよい。 Next, the pause icon 5c will be described with reference to FIG.
The pause icon 5c is an icon indicating that the execution of the next step is paused for an arbitrary time. As shown in FIG. 15, the appearance 501c of the pause icon 5c is a pattern such as a clock and expresses time. Further, as shown in FIG. 15, the function icon display unit 307 may display a unit of time in the pause icon 5c.
　また、一時停止アイコン５ｃが有する状態ウィンドウ５０２ｃは、一時停止する時間を表示する。この状態ウィンドウ５０２ｃに表示される時間は、ユーザによる数値入力により変更可能である。
　また、設定部３０８は、機能アイコン表示部３０７により一時停止アイコン５ｃが作成領域６０３に配置された場合に、一時停止する時間を基準値に設定してもよい。例えば、機能アイコン表示部３０７により一時停止アイコン５ｃが作成領域６０３に配置された場合に、設定部３０８は一時停止する時間を１．０ｓとし、ユーザは必要に応じて数値を変更する。
　なお、一時停止アイコン５ｃでは詳細ボタン５０３は無い。 The status window 502c of the pause icon 5c displays the time of the pause. The time displayed in the status window 502c can be changed by a numerical value input by the user.
In addition, when the function icon display unit 307 places the pause icon 5c in the creation area 603, the setting unit 308 may set the time to pause to the reference value. For example, when the pause icon 5c is placed in the creation area 603 by the function icon display unit 307, the setting unit 308 sets the pause time to 1.0 s, and the user changes the numerical value as necessary.
Note that there is no detail button 503 in the pause icon 5c.
　次に、ツールアイコン５ｄについて、図１６を参照しながら説明する。なお、図１６では、ツール１０３がハンドである場合を示している。
　ツールアイコン５ｄは、ツール１０３が動作することを表すアイコンである。図１６Ａ、図１６Ｂに示すように、ツールアイコン５ｄの外観５０１ｄは、ツール１０３の形状及び動作を模した図案であり、各ツール１０３の種別及び動作を表現する。 Next, the tool icon 5d will be described with reference to FIG. FIG. 16 shows a case where the tool 103 is a hand.
The tool icon 5d is an icon indicating that the tool 103 operates. As shown in FIGS. 16A and 16B, the appearance 501d of the tool icon 5d is a pattern simulating the shape and operation of the tool 103, and expresses the type and operation of each tool 103.
　また、ツールアイコン５ｄが有する状態ウィンドウ５０２ｄは、ツール１０３の名称を表示する。この状態ウィンドウ５０２ｄに表示されるツール１０３の名称は、ユーザによる文字入力により変更可能である。
　また、機能アイコン表示部３０７は、ツール１０３の種別が複数存在する場合、状態ウィンドウ５０２ｄとしてプルダウンリストを表示する。このプルダウンリストは、ツール１０３の種別を選択可能とするウィンドウである。 The status window 502d of the tool icon 5d displays the name of the tool 103. The name of the tool 103 displayed in the state window 502d can be changed by a character input by the user.
When there are a plurality of types of tools 103, the function icon display unit 307 displays a pull-down list as the status window 502d. This pull-down list is a window that allows the type of the tool 103 to be selected.
　また、機能アイコン表示部３０７は、設定部３０８により設定されたツール１０３の種別に応じて、ツールアイコン５ｄの外観５０１ｄを変更する。例えば、設定部３０８によりツール１０３の種別がハンドに設定された場合には、機能アイコン表示部３０７は、図１６に示すように、ツールアイコン５ｄの外観５０１ｄをハンドの形状を模した図案とする。また、設定部３０８によりツール１０３の種別がグラインダーを把持するタイプのツール１０３に設定された場合には、機能アイコン表示部３０７は、ツールアイコン５ｄの外観５０１ｄをグラインダーの形状を模した図案とする。これにより、ユーザは、ツールアイコン５ｄの外観５０１ｄからツール１０３の種別を直感的に把握可能となる。 (4) The function icon display unit 307 changes the appearance 501d of the tool icon 5d according to the type of the tool 103 set by the setting unit 308. For example, when the type of the tool 103 is set to the hand by the setting unit 308, the function icon display unit 307 sets the appearance 501d of the tool icon 5d to a pattern imitating the shape of the hand as shown in FIG. . When the setting unit 308 sets the type of the tool 103 to the type of the tool 103 that grips the grinder, the function icon display unit 307 sets the appearance 501d of the tool icon 5d to a pattern imitating the shape of the grinder. . Accordingly, the user can intuitively grasp the type of the tool 103 from the appearance 501d of the tool icon 5d.
　また、作成領域６０３において、ツールアイコン５ｄにおける詳細ボタン５０３ｄがユーザにより選択されると、図１６Ｃに示すように、機能アイコン表示部３０７はポップアップウィンドウ５０４ｄを表示する。このポップアップウィンドウ５０４ｄは、ツール１０３の動作、当該動作の速度又は当該動作の強度等を設定可能とするウィンドウである。図１６Ｃに示すポップアップウィンドウ５０４ｄでは、ハンドの開動作を示す「開」又は閉動作を示す「閉」を選択可能とする項目と、ハンドの開閉の速さを基準速度に対して何％とするかを示す数値を入力可能とする入力欄と、ハンドの開閉の強さを基準強度に対して何％とするかを示す数値を入力可能とする入力欄とを有している。 In addition, when the user selects the detail button 503d in the tool icon 5d in the creation area 603, the function icon display unit 307 displays a pop-up window 504d as shown in FIG. 16C. The pop-up window 504d is a window in which the operation of the tool 103, the speed of the operation, the intensity of the operation, and the like can be set. In the pop-up window 504d illustrated in FIG. 16C, an item that allows selection of “open” indicating the opening operation of the hand or “close” indicating the closing operation, and what percentage of the opening / closing speed of the hand with respect to the reference speed are set. There is an input box for inputting a numerical value indicating the above, and an input box for inputting a numerical value indicating the percentage of the opening / closing strength of the hand relative to the reference strength.
　また、機能アイコン表示部３０７は、設定部３０８により設定されたツール１０３の動作に応じて、ツールアイコン５ｄの外観５０１ｄを変更する。例えば、設定部３０８によりハンドの動作が閉動作に設定された場合は、機能アイコン表示部３０７は、図１６Ａに示すように、ツールアイコン５ｄの外観５０１ｄをハンドを閉じた形状を模した図案とする。また、設定部３０８によりハンドの動作が開動作に設定された場合は、機能アイコン表示部３０７は、図１６Ｂに示すように、ツールアイコン５ｄの外観５０１ｄをハンドを開いた形状を模した図案とする。これにより、ユーザは、ツールアイコン５ｄの外観５０１ｄからツール１０３の動作を直感的に把握可能となる。 The function icon display unit 307 changes the appearance 501d of the tool icon 5d according to the operation of the tool 103 set by the setting unit 308. For example, when the operation of the hand is set to the closing operation by the setting unit 308, the function icon display unit 307 displays the appearance 501d of the tool icon 5d as a pattern simulating the shape of the closed hand as shown in FIG. 16A. I do. When the operation of the hand is set to the open operation by the setting unit 308, the function icon display unit 307 displays the appearance 501d of the tool icon 5d as a pattern simulating the shape of the opened hand as shown in FIG. 16B. I do. Thereby, the user can intuitively grasp the operation of the tool 103 from the appearance 501d of the tool icon 5d.
　次に、サブルーチンアイコン５ｅについて、図１７を参照しながら説明する。
　サブルーチンアイコン５ｅは、内部に他の機能アイコン５を配置可能な空間５０５ｅを有するアイコンであって、当該空間５０５ｅに配置された他の機能アイコン５により構成される関連性を持った一連のプログラムであるサブルーチンを表すアイコンである。図１７Ａに示すように、サブルーチンアイコン５ｅの外観５０１ｅは、中央に空間５０５ｅを有する囲い等の図案であり、何かを囲うことができることを表現する。すなわち、この外観５０１ｅは、他の機能アイコン５を近づけることで、サブルーチンアイコン５ｅの中に当該機能アイコン５を配置可能であることを想起させる。また、ユーザは、サブルーチンアイコン５ｅが有する空間５０５ｅの内部に配置された機能アイコン５から、どの機能アイコン５までグルーピングできたかを直感的に把握可能となる。 Next, the subroutine icon 5e will be described with reference to FIG.
The subroutine icon 5e is an icon having a space 505e in which other function icons 5 can be arranged, and is a series of programs having a relationship constituted by the other function icons 5 arranged in the space 505e. This is an icon representing a certain subroutine. As shown in FIG. 17A, the appearance 501e of the subroutine icon 5e is a design such as an enclosure having a space 505e in the center, and expresses that something can be enclosed. That is, the appearance 501e reminds that the function icon 5 can be arranged in the subroutine icon 5e by bringing the other function icon 5 close thereto. Further, the user can intuitively grasp which function icons 5 have been grouped from the function icons 5 arranged inside the space 505e of the subroutine icon 5e.
　また、図１７Ｂに矢印２１で示すように、機能アイコン表示部３０７が、作成領域６０３に配置したサブルーチンアイコン５ｅに対して他の機能アイコン５を既定範囲内に近づけたとする。この場合、矢印２２で示すように、機能アイコン表示部３０７は、上記サブルーチンアイコン５ｅが有する空間５０５ｅを広げる。これにより、ユーザは、サブルーチンアイコン５ｅの中に機能アイコン５をドロップすればよいと理解でき、取扱い説明書が無くても操作可能となる。
　その後、機能アイコン表示部３０７は、ユーザによりサブルーチンアイコン５ｅが有する空間５０５ｅの内部で他の機能アイコン５がドロップされると、当該空間５０５ｅの内部に当該他の機能アイコン５を取り込む。 It is also assumed that the function icon display unit 307 brings another function icon 5 closer to a predetermined range with respect to the subroutine icon 5e arranged in the creation area 603, as indicated by an arrow 21 in FIG. 17B. In this case, as indicated by the arrow 22, the function icon display unit 307 expands the space 505e of the subroutine icon 5e. Accordingly, the user can understand that the function icon 5 should be dropped in the subroutine icon 5e, and can operate without the instruction manual.
Thereafter, when the user drops another function icon 5 in the space 505e of the subroutine icon 5e by the user, the function icon display unit 307 loads the other function icon 5 into the space 505e.
　また、サブルーチンアイコン５ｅは、左右両端部に伸縮ドラッグ領域５０６ｅを有している。
　そして、図１７Ｃに矢印２３で示すように、機能アイコン表示部３０７は、作成領域６０３に配置したサブルーチンアイコン５ｅの伸縮ドラッグ領域５０６ｅがユーザにより伸ばす方向にドラッグされた場合、当該伸縮ドラッグ領域５０６ｅ側の空間５０５ｅを伸ばす。この際、機能アイコン表示部３０７は、上記伸縮ドラッグ領域５０６ｅに隣接し且つ上記空間５０５ｅの内部に存在する機能アイコン５を傾けてもよい。そして、機能アイコン表示部３０７は、上記伸縮ドラッグ領域５０６ｅに隣接し且つ上記空間５０５ｅの外部に存在する機能アイコン５を当該空間５０５ｅの内部へ取り込む。
　また、機能アイコン表示部３０７は、作成領域６０３に配置したサブルーチンアイコン５ｅの伸縮ドラッグ領域５０６ｅがユーザにより縮める方向にドラッグされた場合、当該伸縮ドラッグ領域５０６ｅ側の空間５０５ｅを縮める。そして、機能アイコン表示部３０７は、上記伸縮ドラッグ領域５０６ｅに隣接し且つ上記空間５０５ｅの内部に存在する機能アイコン５を当該空間５０５ｅの外部へ排出する。 The subroutine icon 5e has a telescopic drag area 506e at both left and right ends.
Then, as indicated by an arrow 23 in FIG. 17C, when the user drags the expansion / contraction drag area 506e of the subroutine icon 5e arranged in the creation area 603 in the direction in which the user extends the expansion / contraction drag area 506e, The space 505e is extended. At this time, the function icon display unit 307 may tilt the function icon 5 adjacent to the expansion / contraction drag area 506e and present inside the space 505e. Then, the function icon display unit 307 takes in the function icon 5 adjacent to the telescopic drag area 506e and existing outside the space 505e into the space 505e.
In addition, when the user expands and contracts the expandable drag area 506e of the subroutine icon 5e arranged in the creation area 603, the function icon display unit 307 shrinks the space 505e on the expandable drag area 506e side. Then, the function icon display unit 307 discharges the function icons 5 adjacent to the expansion / contraction drag area 506e and existing inside the space 505e to the outside of the space 505e.
　また、サブルーチンアイコン５ｅが有する状態ウィンドウ５０２ｅは、サブルーチンの名称を表示する。この状態ウィンドウ５０２ｅに表示されるサブルーチンの名称は、ユーザによる文字入力により変更可能である。
　また、設定部３０８は、機能アイコン表示部３０７によりサブルーチンアイコン５ｅが作成領域６０３に配置された場合に、サブルーチンの名称を自動的に設定してもよい。例えば、機能アイコン表示部３０７により１つ目のサブルーチンアイコン５ｅが作成領域６０３に配置された場合、設定部３０８は、当該サブルーチンアイコン５ｅが表すサブルーチンの名称を「Ｓｕｂ１」等としてもよい。その後、機能アイコン表示部３０７により２つ目のサブルーチンアイコン５ｅが作成領域６０３に配置された場合、設定部３０８は、当該サブルーチンアイコン５ｅが表すサブルーチンの名称を連番で「Ｓｕｂ２」等としてもよい。 The status window 502e of the subroutine icon 5e displays the name of the subroutine. The name of the subroutine displayed in this status window 502e can be changed by a character input by the user.
Further, the setting unit 308 may automatically set the name of the subroutine when the function icon display unit 307 places the subroutine icon 5e in the creation area 603. For example, when the first subroutine icon 5e is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 may set the name of the subroutine represented by the subroutine icon 5e to “Sub1” or the like. Thereafter, when the second subroutine icon 5e is arranged in the creation area 603 by the function icon display unit 307, the setting unit 308 may set the name of the subroutine represented by the subroutine icon 5e to a serial number such as "Sub2". .
　また、機能アイコン表示部３０７は、複数のサブルーチンアイコン５ｅを作成領域６０３に配置した場合に、図１８Ａに示すように、当該各サブルーチンアイコン５ｅが有する状態ウィンドウ５０２ｅとしてプルダウンリストを表示する。このプルダウンリストは、上記各サブルーチンアイコン５ｅが表すサブルーチンを選択可能とするリストである。図１８Ａに示すプルダウンリストでは、サブルーチンとして「Ｓｕｂ１」又は「Ｓｕｂ２」が選択可能となっている。そして、設定部３０８がサブルーチンアイコン５ｅが表すサブルーチンを切換えると、機能アイコン表示部３０７は当該サブルーチンアイコン５ｅが有する空間５０５ｅに配置している機能アイコン５を切換える。図１８Ｂでは、設定部３０８により図１８Ａに示すサブルーチンアイコン５ｅが表すサブルーチンが「Ｓｕｂ１」から「Ｓｕｂ２」に切換えられた場合を示している。
　これにより、教示装置３は、新規のサブルーチンアイコン５ｅを作成領域６０３に配置した場合でも、既に作成したサブルーチンを指定することで、当該新規のサブルーチンアイコン５ｅに当該サブルーチンを再構築できる。これにより、ユーザは、繰り返し作業の設定又は条件に合わせた作業工程の設定が容易となる。 When a plurality of subroutine icons 5e are arranged in the creation area 603, the function icon display unit 307 displays a pull-down list as a status window 502e of each subroutine icon 5e, as shown in FIG. 18A. This pull-down list is a list that allows selection of the subroutine represented by each of the subroutine icons 5e. In the pull-down list shown in FIG. 18A, “Sub1” or “Sub2” can be selected as a subroutine. When the setting unit 308 switches the subroutine represented by the subroutine icon 5e, the function icon display unit 307 switches the function icon 5 arranged in the space 505e of the subroutine icon 5e. FIG. 18B shows a case where the setting unit 308 switches the subroutine represented by the subroutine icon 5e shown in FIG. 18A from “Sub1” to “Sub2”.
Accordingly, even when the new subroutine icon 5e is arranged in the creation area 603, the teaching device 3 can reconstruct the subroutine with the new subroutine icon 5e by designating the already created subroutine. Accordingly, the user can easily set the repetitive work or set the work process according to the conditions.
　また、作成領域６０３において、サブルーチンアイコン５ｅが有する詳細ボタン５０３ｅがユーザにより選択されると、図１９Ａに示すように、機能アイコン表示部３０７はポップアップウィンドウ５０４ｅを表示する。図１９Ａに示すポップアップウィンドウ５０４ｅは、サブルーチンの集約、サブルーチンの展開、及び、サブルーチンの解体を選択可能としている。 In addition, when the user selects the detail button 503e of the subroutine icon 5e in the creation area 603, the function icon display unit 307 displays a pop-up window 504e as shown in FIG. 19A. The pop-up window 504e shown in FIG. 19A enables selection of subroutine aggregation, subroutine development, and subroutine disassembly.
　図１９Ａに示すポップアップウィンドウ５０４ｅにおいてユーザによりサブルーチンの集約が選択されると、機能アイコン表示部３０７は、サブルーチンアイコン５ｅが有する空間５０５ｅの内部に配置している機能アイコン５を、図１９Ｂに示すように非表示とする。これにより、サブルーチンアイコン５ｅの外観５０１ｅは、作成領域６０３に新規に配置された状態と同じとなる。このように、教示装置３がサブルーチンアイコン５ｅにおいてサブルーチンを集約して詳細情報を非表示とすることで、ユーザは、制御プログラム全体を把握する際に直感的で効率的な把握が可能となる。 When the user selects the aggregation of the subroutines in the pop-up window 504e shown in FIG. 19A, the function icon display unit 307 displays the function icons 5 arranged inside the space 505e of the subroutine icons 5e as shown in FIG. 19B. Is hidden. As a result, the appearance 501e of the subroutine icon 5e becomes the same as the state where the subroutine icon 5e is newly arranged in the creation area 603. As described above, the teaching device 3 collects the subroutines in the subroutine icon 5e and hides the detailed information, so that the user can intuitively and efficiently grasp the entire control program.
　また、ポップアップウィンドウ５０４ｅにおいてユーザによりサブルーチンの展開が選択されると、機能アイコン表示部３０７は、サブルーチンアイコン５ｅが有する空間５０５ｅの内部に配置している機能アイコン５を、図１９Ａに示すように表示する。 When the user selects the expansion of the subroutine in the pop-up window 504e, the function icon display unit 307 displays the function icon 5 arranged inside the space 505e of the subroutine icon 5e as shown in FIG. 19A. I do.
　また、ポップアップウィンドウ５０４ｅにおいてユーザによりサブルーチンの解体が選択されると、機能アイコン表示部３０７は、図１９Ｃに示すように、サブルーチンアイコン５ｅが有する空間５０５ｅの内部に配置している機能アイコン５を全て外部に排出し、且つ、当該サブルーチンアイコン５ｅを削除する。 When the user selects disassembly of the subroutine in the pop-up window 504e, the function icon display unit 307 displays all the function icons 5 arranged inside the space 505e of the subroutine icon 5e as shown in FIG. 19C. The subroutine icon 5e is discharged to the outside and the subroutine icon 5e is deleted.
　また、図２０に示すようにサブルーチンアイコン５ｅにおいてサブルーチンを集約した状態では、機能アイコン表示部３０７は、ユーザによるドラッグに応じて当該サブルーチンアイコン５ｅの配置を変更可能である。この場合の機能アイコン表示部３０７によるサブルーチンアイコン５ｅの配置方法及び周辺の機能アイコン５の挙動は他の機能アイコン５と同様である。 In addition, as shown in FIG. 20, in a state where the subroutines are grouped in the subroutine icons 5e, the function icon display unit 307 can change the arrangement of the subroutine icons 5e according to the drag by the user. In this case, the arrangement method of the subroutine icons 5e by the function icon display unit 307 and the behavior of the peripheral function icons 5 are the same as those of the other function icons 5.
　また、図２０に矢印２４で示すように、機能アイコン表示部３０７は、サブルーチンアイコン５ｅを作成領域６０３から選択領域６０２に移動することも可能である。この場合、画面生成部３０６は、機能アイコン表示部３０７により選択領域６０２に移動されたサブルーチンアイコン５ｅを複製したサブルーチンアイコン５ｅを選択領域６０２に表示する。画面生成部３０６により選択領域６０２に複製されたサブルーチンアイコン５ｅは、機能アイコン表示部３０７により作成領域６０３に再構築可能である。この場合の機能アイコン表示部３０７によるサブルーチンアイコン５ｅの配置方法及び周辺の機能アイコン５の挙動は他の機能アイコン５と同様である。 20. Also, as indicated by the arrow 24 in FIG. 20, the function icon display unit 307 can move the subroutine icon 5e from the creation area 603 to the selection area 602. In this case, the screen generation unit 306 displays a subroutine icon 5e obtained by duplicating the subroutine icon 5e moved to the selection area 602 by the function icon display unit 307 in the selection area 602. The subroutine icon 5e duplicated in the selection area 602 by the screen generation unit 306 can be reconstructed in the creation area 603 by the function icon display unit 307. In this case, the arrangement method of the subroutine icons 5e by the function icon display unit 307 and the behavior of the peripheral function icons 5 are the same as those of the other function icons 5.
　また、機能アイコン表示部３０７は、画面生成部３０６によりサブルーチンアイコン５ｅが選択領域６０２に複製された場合、作成領域６０３に配置したサブルーチンアイコン５ｅが有する状態ウィンドウ５０２ｅとしてプルダウンリストを表示してもよい。このプルダウンリストは、画面生成部３０６により選択領域６０２に複製されたサブルーチンアイコン５ｅが表すサブルーチンを選択可能とするリストである。例えば図２０に示す例では、機能アイコン表示部３０７は、プルダウンリストにより、サブルーチンとして「Ｓｕｂ２」を選択可能としてもよい。これにより、ユーザは、選択領域６０２にはあるが作成領域６０３にないサブルーチンも容易に利用可能となり、効率化を図ることができる。 When the screen generating unit 306 duplicates the subroutine icon 5e in the selection area 602, the function icon display unit 307 may display a pull-down list as the status window 502e of the subroutine icon 5e arranged in the creation area 603. . This pull-down list allows the user to select a subroutine represented by the subroutine icon 5e copied to the selection area 602 by the screen generation unit 306. For example, in the example shown in FIG. 20, the function icon display unit 307 may be able to select “Sub2” as a subroutine using a pull-down list. As a result, the user can easily use a subroutine that is in the selection area 602 but not in the creation area 603, and efficiency can be improved.
　以上のように、この実施の形態１によれば、教示装置３は、ロボット１に対する制御プログラムを構成する機能を表すアイコンであって、当該機能のパラメータの設定概要を表示する状態ウィンドウ５０２を有するアイコンである機能アイコン５を表示した選択領域６０２、及び作成領域６０３を有する教示画面６を生成する画面生成部３０６と、画面生成部３０６により生成された教示画面６において、選択領域６０２から機能アイコン５を選択し、当該機能アイコン５を複製した機能アイコン５を作成領域６０３に配置する機能アイコン表示部３０７と、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する設定部３０８と、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５及び設定部３０８による設定に基づいて、制御プログラムを作成するプログラム作成部３０９とを備え、機能アイコン表示部３０７は、設定部３０８による設定に応じ、作成領域６０３に配置した機能アイコン５の外観５０１を変更する。これにより、ユーザは、制御プログラムを構成する機能を表す機能アイコン５から当該機能の設定状態を直感的に把握可能となる。その結果、ユーザは、プログラム言語の知識が無くてもロボット教示が可能となる。また、ユーザは、取扱い説明書がなくてもロボット教示が可能となる。 As described above, according to the first embodiment, the teaching device 3 is an icon representing a function constituting a control program for the robot 1, and has the status window 502 that displays a setting overview of parameters of the function. A screen generation unit 306 that generates a teaching screen 6 having a selection area 602 displaying a function icon 5 as an icon and a creation area 603, and a function icon from the selection area 602 in the teaching screen 6 generated by the screen generation unit 306. 5, a function icon display unit 307 for arranging the function icon 5 obtained by duplicating the function icon 5 in the creation area 603, and a parameter of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307. Area 603 by the setting unit 308 for setting the setting and the function icon display unit 307. A program creation unit 309 for creating a control program based on the arranged function icons 5 and the settings made by the setting unit 308 is provided. The function icon display unit 307 is arranged in the creation area 603 according to the settings made by the setting unit 308. The appearance 501 of the function icon 5 is changed. Thus, the user can intuitively grasp the setting state of the function from the function icon 5 representing the function constituting the control program. As a result, the user can teach the robot without knowledge of the programming language. In addition, the user can teach the robot without an instruction manual.
実施の形態２．
　実施の形態１では、画面生成部３０６が教示画面６としてビジュアルプログラムウィンドウ６０１のみを生成する場合を示した。これに対し、実施の形態２では、画面生成部３０６が教示画面６としてビジュアルプログラムウィンドウ６０１を含む複数のウィンドウから成る画面を生成する場合を示す。
　なお、実施の形態２に係る教示システムの構成例及びプログラム生成部３０３の構成例は、図１に示す実施の形態１に係る教示システムの構成例及び図４に示す実施の形態１におけるプログラム生成部３０３の構成例と同様である。 Embodiment 2 FIG.
In the first embodiment, the case has been described where the screen generation unit 306 generates only the visual program window 601 as the teaching screen 6. On the other hand, the second embodiment shows a case where the screen generation unit 306 generates a screen including a plurality of windows including the visual program window 601 as the teaching screen 6.
The configuration example of the teaching system according to the second embodiment and the configuration example of the program generation unit 303 are the same as the configuration example of the teaching system according to the first embodiment illustrated in FIG. 1 and the program generation unit according to the first embodiment illustrated in FIG. This is the same as the configuration example of the unit 303.
　実施の形態２における画面生成部３０６は、データ記憶部３０５に記憶されているデータを用いて、ビジュアルプログラムウィンドウ６０１の他、プログラム生成部３０３（機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９）による処理状態を示す１つ以上のウィンドウから成る教示画面６を生成する。 The screen generation unit 306 according to the second embodiment uses the data stored in the data storage unit 305 and the program generation unit 303 (the function icon display unit 307, the setting unit 308, and the program generation unit) in addition to the visual program window 601. 309), a teaching screen 6 including one or more windows indicating a processing state is generated.
　実施の形態２における画面生成部３０６により生成される教示画面６の一例を図２１に示す。図２１に示す教示画面６は、実施の形態１で示したビジュアルプログラムウィンドウ６０１の他、プログラムリストウィンドウ６０５、プログラムウィンドウ６０６、ポジションウィンドウ６０７及び３Ｄプレビューウィンドウ６０８を有している。 FIG. 21 shows an example of the teaching screen 6 generated by the screen generation unit 306 according to the second embodiment. The teaching screen 6 shown in FIG. 21 has a program list window 605, a program window 606, a position window 607, and a 3D preview window 608 in addition to the visual program window 601 shown in the first embodiment.
　プログラムリストウィンドウ６０５は、プログラム生成部３０３により作成された制御プログラムの名称の一覧を示すウィンドウである。
　なお、図２１に示すプログラムリストウィンドウ６０５においてユーザにより制御プログラムの「ＥＸＰＯＲＴ」が選択されると、プログラム生成部３０３は、ビジュアルプログラムウィンドウ６０１に当該制御プログラムを表す機能アイコン５を表示する。また、図２１に示すプログラムリストウィンドウ６０５においてユーザにより制御プログラムの「ＤＥＬＥＴＥ」が選択されると、プログラム生成部３０３は当該制御プログラムを削除する。 The program list window 605 is a window showing a list of control program names created by the program generation unit 303.
When the user selects “EXPORT” of the control program in the program list window 605 shown in FIG. 21, the program generation unit 303 displays the function icon 5 representing the control program in the visual program window 601. When the user selects “DELETE” of the control program in the program list window 605 shown in FIG. 21, the program generation unit 303 deletes the control program.
　また、プログラムウィンドウ６０６は、ビジュアルプログラムウィンドウ６０１においてプログラム生成部３０３により作成された制御プログラム、すなわちプログラム言語により文字列で記述された制御プログラムを示すウィンドウである。 {Circle around (2)} The program window 606 is a window showing the control program created by the program generation unit 303 in the visual program window 601, that is, a control program described in a character string in a programming language.
　また、ポジションウィンドウ６０７は、ビジュアルプログラムウィンドウ６０１においてプログラム生成部３０３により設定されたロボット１の通過点の座標及びその通過点でのフランジ１０２の角度等の詳細情報を示すウィンドウである。
　なお、ポジションウィンドウ６０７により示された詳細情報は、ユーザによる数値入力により変更可能としてもよい。この場合、設定部３０８は、ポジションウィンドウ６０７に対するユーザによる数値入力に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 The position window 607 is a window showing detailed information such as the coordinates of the passing point of the robot 1 set by the program generating unit 303 in the visual program window 601 and the angle of the flange 102 at the passing point.
Note that the detailed information indicated by the position window 607 may be changeable by a numerical value input by the user. In this case, the setting unit 308 sets a parameter of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in accordance with a numerical value input by the user to the position window 607.
　また、３Ｄプレビューウィンドウ６０８は、ビジュアルプログラムウィンドウ６０１においてプログラム生成部３０３により作成された制御プログラムの状態を仮想三次元空間上で示すウィンドウである。なお、画面生成部３０６は、ビジュアルプログラムウィンドウ６０１に３Ｄプレビューの表示位置６０９を表示し、３Ｄプレビューウィンドウ６０８に当該表示位置６０９でのロボット１の状態を表示する。また、ビジュアルプログラムウィンドウ６０１に表示された３Ｄプレビューの表示位置６０９は、作成領域６０３に配置された機能アイコン５間で移動可能である。 The 3D preview window 608 is a window showing the state of the control program created by the program generating unit 303 in the visual program window 601 in a virtual three-dimensional space. The screen generation unit 306 displays the display position 609 of the 3D preview in the visual program window 601 and displays the state of the robot 1 at the display position 609 in the 3D preview window 608. The display position 609 of the 3D preview displayed in the visual program window 601 can be moved between the function icons 5 arranged in the creation area 603.
　また、図２１に示す３Ｄプレビューウィンドウ６０８では、画面生成部３０６が、ロボット１の移動経路を示す軌跡を表示している。しかしながら、これに限らず、例えば図２２に示す３Ｄプレビューウィンドウ６０８のように、画面生成部３０６は、ロボット１の移動経路を示す進行方向を矢印で表示してもよい。この場合、図２２に示すように、画面生成部３０６は、ロボット１の移動経路が同一の経路を行き来する場合、矢印が重ならないようにずらして表示する。また図２２に示す３Ｄプレビューウィンドウ６０８では、画面生成部３０６が、上記矢印として、移動方式が直線補間である場合には直線の矢印を用い、移動方式が関節補間である場合には波線の矢印を用いている。 In the 3D preview window 608 shown in FIG. 21, the screen generation unit 306 displays a trajectory indicating the movement route of the robot 1. However, the present invention is not limited to this. For example, as in a 3D preview window 608 shown in FIG. 22, the screen generation unit 306 may display the traveling direction indicating the movement path of the robot 1 with an arrow. In this case, as shown in FIG. 22, when the movement path of the robot 1 moves back and forth on the same path, the screen generation unit 306 shifts the display so that the arrows do not overlap. In the 3D preview window 608 shown in FIG. 22, the screen generation unit 306 uses a straight arrow as the above-mentioned arrow when the movement method is linear interpolation, and a wavy arrow when the movement method is joint interpolation. Is used.
　また、図２３に示すように、画面生成部３０６は、３Ｄプレビューウィンドウ６０８において、ユーザにより通過点が選択された場合に、ロボット１の通過点の座標及び通過点でのフランジ１０２の角度を設定可能とするポップアップウィンドウ６１０を表示してもよい。なお、図２３において、符号２３１は、ユーザにより選択された通過点を示している。また、図２３に示すポップアップウィンドウ６１０は、接近距離の入力欄も有している。このポップアップウィンドウ６１０に表示されるパラメータは、ユーザによる数値入力により変更可能である。この場合、設定部３０８は、ポップアップウィンドウ６１０に対するユーザによる数値入力に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 Further, as shown in FIG. 23, when a pass point is selected by the user in the 3D preview window 608, the screen generation unit 306 sets the coordinates of the pass point of the robot 1 and the angle of the flange 102 at the pass point. A possible popup window 610 may be displayed. In FIG. 23, reference numeral 231 indicates a passing point selected by the user. Further, the pop-up window 610 shown in FIG. 23 also has an entry field for the approach distance. The parameters displayed in the pop-up window 610 can be changed by numerical input by the user. In this case, the setting unit 308 sets the parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in response to the user's numerical input to the pop-up window 610.
　また、図２３に示すように、画面生成部３０６は、３Ｄプレビューウィンドウ６０８において、ユーザにより移動経路を示す矢印が選択された場合に、移動方式の種別を選択可能とするプルダウンリスト６１１を表示してもよい。なお、図２３において、符号２３２は、ユーザにより選択された矢印を示している。この場合、設定部３０８は、プルダウンリスト６１１に対するユーザによる選択に応じ、機能アイコン表示部３０７により作成領域６０３に配置された機能アイコン５が表す機能のパラメータを設定する。 Also, as shown in FIG. 23, the screen generation unit 306 displays a pull-down list 611 in the 3D preview window 608 that enables the user to select the type of the moving method when the arrow indicating the moving path is selected by the user. May be. In FIG. 23, reference numeral 232 indicates an arrow selected by the user. In this case, the setting unit 308 sets the parameters of the function represented by the function icon 5 arranged in the creation area 603 by the function icon display unit 307 in accordance with the selection of the pull-down list 611 by the user.
　このように、実施の形態２に係る教示装置３は、画面生成部３０６が、教示画面６として、ビジュアルプログラムウィンドウ６０１に加え、プログラム生成部３０３による処理状態を示すウィンドウを１つ以上表示する。これにより、実施の形態１における効果に加え、ユーザは、制御プログラムの設定状態をより容易に把握可能となる。 As described above, in the teaching device 3 according to the second embodiment, the screen generation unit 306 displays, as the teaching screen 6, one or more windows indicating the processing state of the program generation unit 303 in addition to the visual program window 601. Thereby, in addition to the effects of the first embodiment, the user can more easily grasp the setting state of the control program.
　最後に、図２４を参照して、実施の形態１，２に係る教示装置３のハードウェア構成例を説明する。以下では、実施の形態１に係る教示装置３のハードウェア構成例について示すが、実施の形態２に係る教示装置３のハードウェア構成例についても同様である。
　教示装置３における表示部３０１はディスプレイであり、入力部３０２は入力装置である。教示装置３における画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９の各機能は、処理回路５１により実現される。処理回路５１は、図２４Ａに示すように、専用のハードウェアであってもよいし、図２４Ｂに示すように、メモリ５３に格納されるプログラムを実行するＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、プロセッサ、又はＤＳＰ（Ｄｉｇｉｔａｌ　Ｓｉｇｎａｌ　Ｐｒｏｃｅｓｓｏｒ）ともいう）５２であってもよい。 Lastly, a hardware configuration example of the teaching device 3 according to the first and second embodiments will be described with reference to FIG. Hereinafter, an example of the hardware configuration of the teaching device 3 according to the first embodiment will be described, but the same applies to the example of the hardware configuration of the teaching device 3 according to the second embodiment.
The display unit 301 of the teaching device 3 is a display, and the input unit 302 is an input device. Each function of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 in the teaching device 3 is realized by the processing circuit 51. The processing circuit 51 may be dedicated hardware as shown in FIG. 24A, or as shown in FIG. 24B, a CPU (Central Processing Unit, central processing unit, It may be a processing device, an arithmetic device, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor) 52.
　処理回路５１が専用のハードウェアである場合、処理回路５１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）、ＦＰＧＡ（Ｆｉｅｌｄ　Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）、又はこれらを組み合わせたものが該当する。画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９の各部の機能それぞれを処理回路５１で実現してもよいし、各部の機能をまとめて処理回路５１で実現してもよい。 When the processing circuit 51 is dedicated hardware, the processing circuit 51 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specialized Integrated Circuit), and an FPGA (Field Programmable Gate). Array) or a combination thereof. The functions of each unit of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 may be realized by the processing circuit 51, or the functions of each unit may be realized by the processing circuit 51 collectively. Good.
　処理回路５１がＣＰＵ５２の場合、画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９の機能は、ソフトウェア、ファームウェア、又はソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェア及びファームウェアはプログラムとして記述され、メモリ５３に格納される。処理回路５１は、メモリ５３に記憶されているプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、教示装置３は、処理回路５１により実行されるときに、例えば図６～１１，１４～２０に示した処理が結果的に実行されることになるプログラムを格納するためのメモリ５３を備える。また、これらのプログラムは、画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９の手順及び方法をコンピュータに実行させるものであるともいえる。ここで、メモリ５３としては、例えば、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の不揮発性又は揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、又はＤＶＤ等が該当する。 When the processing circuit 51 is the CPU 52, the functions of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 are realized by software, firmware, or a combination of software and firmware. Software and firmware are described as programs and stored in the memory 53. The processing circuit 51 implements the function of each unit by reading and executing the program stored in the memory 53. That is, the teaching device 3 includes a memory 53 for storing a program that, when executed by the processing circuit 51, results in the processes illustrated in FIGS. 6 to 11 and 14 to 20, for example. . In addition, it can be said that these programs cause the computer to execute the procedures and methods of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309. Here, as the memory 53, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like is applicable. I do.
　なお、画面生成部３０６、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９の各機能について、一部を専用のハードウェアで実現し、一部をソフトウェア又はファームウェアで実現するようにしてもよい。例えば、画面生成部３０６については専用のハードウェアとしての処理回路５１でその機能を実現し、機能アイコン表示部３０７、設定部３０８及びプログラム作成部３０９については処理回路５１がメモリ５３に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 Note that some of the functions of the screen generation unit 306, the function icon display unit 307, the setting unit 308, and the program creation unit 309 may be partially realized by dedicated hardware and partially realized by software or firmware. Good. For example, the function of the screen generation unit 306 is realized by the processing circuit 51 as dedicated hardware, and the processing circuit 51 of the function icon display unit 307, the setting unit 308, and the program creation unit 309 is stored in the memory 53. The function can be realized by reading and executing the program.
　このように、処理回路５１は、ハードウェア、ソフトウェア、ファームウェア、又はこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the processing circuit 51 can realize each of the above-described functions by hardware, software, firmware, or a combination thereof.
　なお、本願発明はその発明の範囲内において、各実施の形態の自由な組み合わせ、あるいは各実施の形態の任意の構成要素の変形、もしくは各実施の形態において任意の構成要素の省略が可能である。 In the present invention, any combination of the embodiments, a modification of an arbitrary component of each embodiment, or an omission of any component in each embodiment is possible within the scope of the invention. .
　この発明に係る教示装置は、ロボットに対する制御プログラムを作成する教示装置において、当該制御プログラムを構成する機能を表す機能アイコンから当該機能の設定状態を直感的に把握可能となり、ロボットに対する制御プログラムを作成する教示装置等に用いるのに適している。 The teaching device according to the present invention is a teaching device for creating a control program for a robot. In the teaching device, a setting state of the function can be intuitively grasped from a function icon representing a function constituting the control program, and the control program for the robot is created. It is suitable for use in teaching devices and the like.
　１　ロボット、２　ロボット制御装置、３　教示装置、４　ワーク、５　機能アイコン、５ａ　通過点アイコン、５ｂ　移動アイコン、５ｃ　一時停止アイコン、５ｄ　ツールアイコン、５ｅ　サブルーチンアイコン、６　教示画面、５１　処理回路、５２　ＣＰＵ、５３　メモリ、１０１　アーム、１０２　フランジ、１０３　ツール、１０４　工具、２０１　プログラム読出し部、２０２　動作制御信号生成部、２０３　動作制御信号出力部、３０１　表示部、３０２　入力部、３０３　プログラム生成部、３０４　プログラム保存部、３０５　データ記憶部、３０６　画面生成部、３０７　機能アイコン表示部、３０８　設定部、３０９　プログラム作成部、５０１，５０１ａ～５０１ｅ　外観、５０２，５０２ａ～５０２ｅ　状態ウィンドウ、５０３，５０３ａ～５０３ｅ　詳細ボタン、５０４，５０４ａ～５０４ｅ　ポップアップウィンドウ、５０５e　空間、６０１　ビジュアルプログラムウィンドウ、６０２　選択領域（第１の領域）、６０３　作成領域（第２の領域）、６０４　仕切り線、６０５　プログラムリストウィンドウ、６０６　プログラムウィンドウ、６０７　ポジションウィンドウ、６０８　３Ｄプレビューウィンドウ、６０９　３Ｄプレビューの表示位置。 1 robot, 2 robot control device, 3 teaching device, 4 work, 5 functional icon, 5a passing point icon, 5b moving icon, 5c suspend icon, 5d tool icon, 5e subroutine icon, 6 teaching screen, 51 processing circuit, 52 CPU, 53 memory, 101 arm, 102 flange, 103 tool, 104 tool, 201 program reading unit, 202 operation control signal generation unit, 203 operation control signal output unit, 301 display unit, 302 input unit, 303 program generation unit, 304 Program storage unit, 305 data storage unit, 306 screen generation unit, 307 function icon display unit, 308 setting unit, 309 program creation unit, 501, 501a to 501e appearance, 502, 502a to 502e state Window, 503, 503a to 503e {details button, 504, 504a to 504e} pop-up window, 505e {space, 601} visual program window, 602} selection area (first area), 603} creation area (second area), 604} partition line, 605 Program list window, 606 program window, 607 position window, 608 3D preview window, 609 3D preview display position.

Claims (14)

  1. 　ロボットに対する制御プログラムを構成する機能を表すアイコンであって、当該機能のパラメータの設定概要を表示する状態ウィンドウを有するアイコンである機能アイコンを表示した第１の領域、及び第２の領域を有する教示画面を生成する画面生成部と、
    　前記画面生成部により生成された教示画面において、第１の領域から機能アイコンを選択し、当該機能アイコンを複製した機能アイコンを第２の領域に配置する機能アイコン表示部と、
    　前記機能アイコン表示部により第２の領域に配置された機能アイコンが表す機能のパラメータを設定する設定部と、
    　前記機能アイコン表示部により第２の領域に配置された機能アイコン及び前記設定部による設定に基づいて、制御プログラムを作成するプログラム作成部とを備え、
    　前記機能アイコン表示部は、前記設定部による設定に応じ、第２の領域に配置した機能アイコンの外観を変更する
    　ことを特徴とする教示装置。     Teaching having a first area displaying a function icon, which is an icon representing a function constituting a control program for the robot and having a status window displaying an overview of parameter settings of the function, and a second area A screen generation unit for generating a screen,
    A function icon display unit that selects a function icon from a first area in the teaching screen generated by the screen generation unit, and arranges a function icon obtained by duplicating the function icon in a second area;
    A setting unit that sets parameters of a function represented by a function icon arranged in a second area by the function icon display unit;
    A program creation unit that creates a control program based on the function icons arranged in the second area by the function icon display unit and the settings by the setting unit;
    The teaching device, wherein the function icon display unit changes an appearance of a function icon arranged in a second area according to a setting by the setting unit.
  2. 　前記画面生成部により第１の領域に表示される機能アイコンは、詳細ボタンを有し、
    　前記機能アイコン表示部は、第２の領域に配置した機能アイコンにおいてユーザにより詳細ボタンが選択された場合に、当該機能アイコンが表す機能のパラメータを設定可能とするポップアップウィンドウを表示し、
    　前記設定部は、前記機能アイコン表示部により表示されたポップアップウィンドウに対するユーザによる設定に応じ、前記機能アイコン表示部により第２の領域に配置された機能アイコンが表す機能のパラメータを設定する
    　ことを特徴とする請求項１記載の教示装置。     The function icon displayed in the first area by the screen generation unit has a detail button,
    The function icon display unit displays a pop-up window that allows a parameter of a function represented by the function icon to be set when a detail button is selected by a user in the function icon arranged in the second area,
    The setting unit sets a parameter of a function represented by a function icon arranged in a second area by the function icon display unit according to a setting by a user for a pop-up window displayed by the function icon display unit. The teaching device according to claim 1, wherein
  3. 　前記画面生成部により第１の領域に表示される機能アイコンは、ロボットの通過点を表す通過点アイコンを含む
    　ことを特徴とする請求項２記載の教示装置。     The teaching device according to claim 2, wherein the function icons displayed in the first area by the screen generation unit include a passing point icon representing a passing point of the robot.
  4. 　前記機能アイコン表示部は、複数の通過点アイコンを第２の領域に配置した場合に、当該通過点アイコンが有する状態ウィンドウとして、当該通過点アイコンが表す通過点を選択可能とするプルダウンリストを表示し、
    　前記設定部は、前記機能アイコン表示部により表示されたプルダウンリストに対するユーザによる選択に応じ、前記機能アイコン表示部により第２の領域に配置された通過点アイコンが表す通過点を切換える
    　ことを特徴とする請求項３記載の教示装置。     The function icon display unit displays, when a plurality of passing point icons are arranged in the second area, a pull-down list that allows selection of a passing point represented by the passing point icon as a status window of the passing point icon. And
    The setting unit switches a pass point represented by a pass point icon arranged in a second area by the function icon display unit according to a user's selection of a pull-down list displayed by the function icon display unit. The teaching device according to claim 3, wherein
  5. 　前記機能アイコン表示部は、プルダウンリストに対するユーザによる選択に応じて前記設定部により通過点アイコンが表す通過点が他の通過点アイコンが表す通過点と同一に設定された場合に、当該通過点アイコンに対して表示するポップアップウィンドウに、当該通過点からの距離を入力可能とする入力欄を追加し、
    　前記設定部は、前記機能アイコン表示部により表示されたポップアップウィンドウの入力欄に対するユーザによる入力に応じ、当該ポップアップウィンドウが表示された通過点アイコンが表す通過点を変更する
    　ことを特徴とする請求項４記載の教示装置。     The function icon display unit is configured such that when a pass point represented by a pass point icon is set by the setting unit to be the same as a pass point represented by another pass point icon in accordance with a selection by a user with respect to a pull-down list, the pass point icon In the pop-up window that is displayed for, add an input field that allows you to enter the distance from the passing point,
    The setting unit changes a pass point represented by a pass point icon on which the popup window is displayed, according to an input by a user in an input field of a popup window displayed by the function icon display unit. 4. The teaching device according to 4.
  6. 　前記画面生成部により第１の領域に表示される機能アイコンは、内部に他の機能アイコンを配置可能な空間を有するアイコンであって、当該空間に配置された他の機能アイコンにより構成される一連のプログラムであるサブルーチンを表すアイコンであるサブルーチンアイコンを含む
    　ことを特徴とする請求項２記載の教示装置。     The function icons displayed in the first area by the screen generation unit are icons having a space in which other function icons can be arranged, and a series of icons constituted by other function icons arranged in the space. The teaching device according to claim 2, further comprising a subroutine icon that is an icon representing a subroutine that is the program of (1).
  7. 　前記機能アイコン表示部は、第２の領域に配置したサブルーチンアイコンに対して他の機能アイコンを既定範囲内に近づけた場合、当該サブルーチンアイコンが有する空間を広げる
    　ことを特徴とする請求項６記載の教示装置。     The said function icon display part expands the space which the said subroutine icon has, when another function icon approaches the predetermined range with respect to the subroutine icon arrange | positioned in the 2nd area | region. Teaching device.
  8. 　前記機能アイコン表示部は、第２の領域に配置したサブルーチンアイコンの端部がユーザによりドラッグされた場合、当該ドラッグに応じて当該サブルーチンアイコンが有する空間を伸縮させ、当該伸縮方向に応じて、当該端部に隣接し且つ当該空間の外部に存在する機能アイコンの当該空間の内部への取り込み、又は、当該端部に隣接し且つ当該空間の内部に存在する機能アイコンの当該空間の外部への排出を行う
    　ことを特徴とする請求項６記載の教示装置。     When the end of the subroutine icon arranged in the second area is dragged by the user, the function icon display unit expands and contracts the space of the subroutine icon in accordance with the drag, and according to the direction of expansion and contraction, Incorporation of a function icon adjacent to the end and outside the space into the space, or discharge of a function icon adjacent to the end and inside the space to the outside of the space The teaching device according to claim 6, wherein:
  9. 　前記機能アイコン表示部は、第２の領域に配置したサブルーチンアイコンに対して表示するポップアップウィンドウとして、当該サブルーチンアイコンが有する空間の内部に配置した機能アイコンを非表示とする集約、及び当該機能アイコンを表示する展開を選択可能とするプログラムリストを表示する
    　ことを特徴とする請求項６記載の教示装置。     The function icon display unit displays, as a pop-up window for a subroutine icon arranged in the second area, an aggregation that hides a function icon arranged inside a space of the subroutine icon, and displays the function icon. 7. The teaching device according to claim 6, wherein a program list that enables selection of a display to be displayed is displayed.
  10. 　前記機能アイコン表示部は、第２の領域に配置したサブルーチンアイコンに対して表示するポップアップウィンドウとして、当該サブルーチンアイコンが有する空間の内部に配置した機能アイコンを全て外部に排出し、且つ、当該サブルーチンアイコンを削除する解体を選択可能とするプログラムリストを表示する
    　ことを特徴とする請求項６記載の教示装置。     The function icon display unit discharges all the function icons arranged inside the space of the subroutine icon to the outside as a pop-up window to be displayed for the subroutine icon arranged in the second area. The teaching device according to claim 6, wherein a program list that enables selection of disassembly for deleting the program is displayed.
  11. 　前記画面生成部は、前記機能アイコン表示部により第２の領域に配置されたサブルーチンアイコンが第１の領域に移動された場合に、当該サブルーチンアイコンを複製したサブルーチンアイコンを第１の領域に表示する
    　ことを特徴とする請求項６記載の教示装置。     When the subroutine icon arranged in the second area is moved to the first area by the function icon display section, the screen generation section displays a subroutine icon that is a duplicate of the subroutine icon in the first area. 7. The teaching device according to claim 6, wherein:
  12. 　前記機能アイコン表示部は、複数のサブルーチンアイコンを第２の領域に配置した場合に、当該サブルーチンアイコンが有する状態ウィンドウとして、当該サブルーチンアイコンが表すサブルーチンを選択可能とするプログラムリストを表示し、
    　前記設定部は、前記機能アイコン表示部により表示されたプログラムリストに対するユーザによる選択に応じ、前記機能アイコン表示部により第２の領域に配置されたサブルーチンアイコンが表すサブルーチンを切換える
    　ことを特徴とする請求項６記載の教示装置。     The function icon display unit displays, when a plurality of subroutine icons are arranged in the second area, a program list that enables selection of a subroutine represented by the subroutine icon as a status window of the subroutine icon,
    The setting unit switches a subroutine represented by a subroutine icon arranged in a second area by the function icon display unit in accordance with a user's selection of a program list displayed by the function icon display unit. Item 7. The teaching device according to Item 6.
  13. 　前記画面生成部は、教示画面に、前記機能アイコン表示部、前記設定部及び前記プログラム作成部による処理状態を示すウィンドウを１つ以上表示する
    　ことを特徴とする請求項１記載の教示装置。     The teaching device according to claim 1, wherein the screen generation unit displays, on a teaching screen, one or more windows indicating processing states of the function icon display unit, the setting unit, and the program creation unit.
  14. 　前記画面生成部は、第２の領域に３Ｄプレビューの表示位置を表示し、教示画面に、当該表示位置でのロボットの状態を示す３Ｄプレビューウィンドウを表示する
    　ことを特徴とする請求項１３記載の教示装置。     The said screen generation part displays the display position of a 3D preview in a 2nd area | region, and displays the 3D preview window which shows the state of the robot in the said display position on the teaching screen. Teaching device.
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US20210170586A1 (en) * 2019-12-09 2021-06-10 Fanuc Corporation Robot teaching device including icon programming function
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