JP2021094624A - Program writing assistance device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress erroneous recognition of each movement command in a program creation support device for displaying each movement command of a robot by each operation trajectory. A robot program creation support device is provided with a display unit that displays a robot's motion trajectory at a position corresponding to the robot, and each movement command for moving the robot and a branch command for branching the motion trajectory according to a condition. Support the creation of a program including (conditional branching) using the display unit. The program creation support device has a first processing unit that displays each movement command according to each movement trajectory from each movement source position to each target position of the robot, and each identification code (ID) for each movement trajectory that displays each movement command. ), And a second processing unit that assigns the same identification code (ID: 3) to a plurality of different operation trajectories (A1, A2) that display the same movement command. [Selection diagram] Fig. 5

Description

The present invention relates to a support device that supports robot program creation.

Conventionally, in order to make the operator appropriately recognize the movement of the robot, a device that displays the movement locus of the robot, the branch source position, and the branch destination position in a visually recognizable figure so as to overlap the robot. (See Patent Document 1).

JP-A-2018-51653

By the way, in the device described in Patent Document 1, after the motion trajectory is branched, the movement command for moving the robot to the same target position is displayed as a plurality of different motion trajectories. Therefore, the same movement instruction may be mistakenly recognized as a plurality of different movement instructions.

The present invention has been made to solve the above problems, and a main object thereof is to suppress erroneous recognition of each movement command in a program creation support device that displays each movement command of a robot by each movement trajectory. It is in.

The first means for solving the above problems is
The display is provided with a display unit that displays the motion trajectory of the robot at a position corresponding to the robot, and creates a program including each movement command for moving the robot and a branch command for branching the motion trajectory according to a condition. It is a support device that supports using the department,
A first processing unit that displays each movement command according to each movement trajectory from each movement source position to each target position of the robot, and
A second processing unit that assigns each identification code to each operation trajectory that displays each movement command and assigns the same identification code to a plurality of different operation trajectories that display the same movement instruction.
To be equipped.

According to the above configuration, the display unit displays the operation trajectory of the robot at a position corresponding to the robot. The robot program creation support device uses a display unit to support the creation of a program including each movement command for moving the robot and a branch command for branching an operation trajectory according to a condition.

Here, the first processing unit displays each movement command according to each movement trajectory from each movement source position of the robot to each target position. Therefore, the movement command after the operation trajectory is branched by the branch instruction is displayed as a plurality of operation trajectories in which the same movement instruction is different. In this regard, the second processing unit assigns each identification code to each operation trajectory displaying each movement instruction, and assigns the same identification code to a plurality of different operation trajectories displaying the same movement instruction. Therefore, the robot program creation support device can recognize a plurality of different motion trajectories displaying the same movement command as the same movement command based on the identification code. Therefore, in the program creation support device that displays each movement command of the robot by each movement trajectory, it is possible to suppress erroneous recognition of each movement command.

In the second means
In the predetermined display area of the display unit, a third processing unit that editably displays the instruction including each movement instruction and the branch instruction in a flowchart is provided.
The first processing unit makes it possible to edit each operation trajectory that displays each movement command.
In the flowchart, the second processing unit assigns the same identification code as the identification code given to each operation trajectory to each movement command corresponding to each operation trajectory.
When each of the movement trajectories displaying each movement command is edited, in the flowchart, each of the movements to which the same identification code as the identification code given to each of the edited movement trajectories is given. The instruction includes a fourth processing unit that reflects the result of editing each of the motion trajectories.

According to the above configuration, in the predetermined display area of the display unit, the third processing unit displays the instructions including the movement instruction and the branch instruction in an editable flowchart. Therefore, the operator can create a program by editing the instruction including each movement instruction and branch instruction displayed in the flowchart. In addition, the first processing unit makes it possible to edit each operation trajectory that displays each movement command. Therefore, the operator can edit each operation trajectory for displaying each movement command and adjust each operation trajectory.

In the flowchart, the second processing unit assigns the same identification code as each identification code assigned to each operation trajectory to each movement command corresponding to each operation trajectory. Therefore, each operation trajectory for displaying each movement instruction and each movement instruction in the flowchart can be associated with each other by an identification code. Here, when each operation trajectory displaying each movement command is edited, the fourth processing unit is assigned the same identification code as each identification code assigned to each edited operation trajectory in the flowchart. Each movement command reflects the result of editing each motion trajectory. Therefore, the operator can edit each movement command associated with the identification code in the flowchart by editing each operation trajectory for displaying each movement command. Further, since the same identification code is assigned to a plurality of different operation trajectories displaying the same movement command, any of a plurality of different operation trajectories displaying the same movement instruction can be edited by the identification code. You can edit the attached move command.

In the third means, when the movement instructions are edited in the flowchart, the fourth processing unit assigns the same identification code as the identification code given to each of the edited movement instructions. The edited result of each movement command is reflected in each of the movement trajectories. According to such a configuration, the operator can edit each operation trajectory associated with the identification code by editing each movement command in the flowchart. Further, since the same identification code is assigned to a plurality of different operation trajectories displaying the same movement command, if each movement command is edited in the flowchart, the same movement command associated with the identification code is displayed. It is possible to edit multiple different motion trajectories together.

In the fourth means, the third processing unit displays each movement command in the flowchart so as to be selectable, and the first processing unit displays the movement command in the flowchart when any of the movement commands is selected. The operation trajectory to which the same identification code as the identification code given to the selected movement command is assigned is displayed in a state indicating that it has been selected.

According to the above configuration, the third processing unit displays each movement command in a flow chart so as to be selectable. Therefore, the operator can select the move command to be edited in the flowchart. When any of the movement commands is selected in the flowchart, the first processing unit indicates that the operation trajectory to which the same identification code as the identification code given to the selected movement command is assigned is selected. Display in the state. Therefore, when the movement command is selected in the flowchart, the operator can easily grasp the operation trajectory for displaying the selected movement command. Further, the same identification code is assigned to a plurality of different operation trajectories displaying the same movement command. Therefore, when the movement commands corresponding to the plurality of operation trajectories are selected, all of the plurality of operation trajectories displaying the selected movement commands can be displayed in a state indicating that they have been selected. Therefore, the operator can easily grasp the correspondence between each movement command and each operation trajectory.

In the fifth means, the first processing unit displays each of the operation trajectories in a selectable manner, and the third processing unit displays each of the operation trajectories for displaying each movement command. The movement command to which the same identification code as the identification code assigned to the selected operation trajectory is assigned is displayed in a state indicating that the movement command has been selected in the flowchart.

According to the above configuration, the first processing unit displays each operation trajectory in a selectable manner. Therefore, the operator can select the motion trajectory to be edited. When any of the operation trajectories for displaying each movement instruction is selected, the third processing unit outputs a movement instruction having the same identification code as the identification code assigned to the selected operation trajectory. It is displayed in a state indicating that it has been selected in. Therefore, when the operator selects any of the operation trajectories for displaying each movement instruction, the operator can easily grasp the movement instruction corresponding to the selected operation trajectory in the flowchart. Further, the same identification code is assigned to a plurality of different operation trajectories displaying the same movement command. Therefore, regardless of which of a plurality of different operation trajectories displaying the same movement instruction is selected, the movement instruction associated with the selected operation trajectory by the identification code is displayed in a state indicating that the movement instruction has been selected in the flowchart. can do. Therefore, the operator can easily grasp the correspondence between each movement trajectory and each movement command.

In the sixth means, the first processing unit is the same as the identification code given to the selected operation trajectory when any of the operation trajectories displaying the movement commands is selected. All the operation trajectories to which the identification codes are assigned are displayed in a state indicating that they have been selected. According to such a configuration, when any one of a plurality of different operation trajectories displaying the same movement command is selected, all the operation trajectories to which the same identification code as the selected operation trajectory is assigned are selected. Can be displayed in a state representing. Therefore, the operator can easily grasp all the operation trajectories displaying the same movement command.

For example, a worker may want to correspond to a plurality of different movement commands for a plurality of different motion trajectories that move to a common target position.

In this regard, in the seventh means, the second processing unit makes it possible to edit each of the identification codes given to each of the operation trajectories. Therefore, the operator can change the correspondence between the operation trajectory and the movement command by editing the identification code assigned to the operation trajectory.

A block diagram showing a robot system. A flowchart showing the process until the program is completed. The figure which shows the image shown on the display. The schematic diagram which shows the 2D flowchart. The schematic diagram which shows the 3D flowchart corresponding to FIG. The schematic diagram which shows the procedure of program creation. The schematic diagram which shows the editing of the movement instruction in a 2D flowchart and the reflection of the editing result in a 3D flowchart. The schematic diagram which shows the editing of the arrow which shows the operation trajectory in a 3D flowchart, and the reflection of the edit result in a 2D flowchart.

Hereinafter, an embodiment embodied in a robot system used in a machine assembly factory or the like will be described with reference to the drawings. As shown in FIG. 1, the robot system 100 includes a robot 10, a controller 20, a teaching pendant 30, and the like.

The robot 10 is, for example, a 6-axis vertical articulated robot. In the robot 10, the arms of each shaft are driven by the motors provided on each shaft. Work is performed on a work that is a work object by a hand (tool) or the like attached to the tip of the 6-axis arm.

The controller 20 (control device) is a main body that controls the robot 10, and includes a microcomputer having a CPU, a ROM, a RAM, an input / output interface, and the like. The controller 20 operates the robot 10 by executing a program stored in a storage unit such as a ROM. The controller 20 reads the program created by the operator from the teaching pendant 30 into the storage unit. Further, the controller 20 operates the robot 10 in response to an instruction from the teaching pendant 30 operated by the operator.

The controller 20 grasps the operation state of the robot 10, for example, the operation information such as where the current target position of the robot 10 is, what kind of operation locus is drawn to reach the target position, and the like. Further, since the controller 20 stores and executes the above program, it is aware of the instruction currently being executed and the instruction to be executed after the instruction. The controller 20 outputs various operation information indicating the operation state of the robot 10 to the teaching pendant 30.

The teaching pendant 30 (teaching device) includes a microcomputer similar to the controller 20, various key switches, a display 31 (see FIG. 3), and the like. The operator performs various input operations with the key switch. For example, a pointer is displayed on the display 31 (display unit), and the operator can move the pointer to select an icon or the like on the screen. Further, the display 31 is a touch panel capable of detecting the operation of the operator. The operator can select an icon or the like on the screen by touching the touch panel. The operator can also select an icon or the like on the screen by moving the pointer displayed on the display 31 with the mouse and performing a click operation.

The operator can create a program by operating the teaching pendant 30 (robot program creation support device). The teaching pendant 30 creates a simulation image of the robot 10 and an operation trajectory based on the created program and the operation state of the robot 10 output from the controller 20, and displays the simulation image and the operation trajectory on the display 31. The teaching pendant 30 realizes the functions of the first processing unit, the second processing unit, the third processing unit, and the fourth processing unit.

FIG. 2 is a flowchart showing a process until the program is completed. This series of steps is performed by an operator using the teaching pendant 30.

As shown in the figure, the program is first created and edited. The program includes each movement command that moves the robot 10 and a non-movement command that is not each movement command. The worker creates a program by setting these instructions in order. In addition, the program is edited based on the execution result of the created program. The man-hour ratio of this process is about 50% of the total man-hours until the program is completed.

Subsequently, each target position of the robot 10 is taught based on the work to be executed by the robot 10. The operator teaches each target position by directly describing each target position of each movement command in the program or by instructing each target position in the simulation image of the robot 10. The man-hour ratio of this process is about 30% of the total man-hours until the program is completed.

Then, the program is executed and confirmed. The operator actually operates the robot 10 by executing the program, or executes and confirms the program by confirming the operation of the robot 10 in the simulation image. The man-hour ratio of this process is about 20% of the total man-hours until the program is completed.

In the program creation support of the present embodiment, all these steps are supported. That is, the teaching pendant 30 not only makes it possible to recognize the movement of the robot 10, but also supports the creation and editing of a program and the teaching of a target position.

FIG. 3 is a diagram showing an image displayed on the display 31. A two-dimensional flowchart (2D flow) representing the program of the robot 10 is displayed in the left area 32 (predetermined display area) of the display 31. The program of the robot 10 may be described by instructions of several thousand lines.

The "command" includes each movement command for moving the robot 10 and a non-movement command that is not each movement command. The movement command is a command to move the control point (the tip of the sixth axis arm) of the robot 10 to the target position. The non-moving instruction includes a standby instruction such as "Wait", an output instruction that outputs ON or OFF to the IO port, and the like. "Judgment" is a judgment command for judging various conditions. For example, a judgment instruction (branch instruction) executes a move instruction or the like described under "condition 1" when "condition 1" is satisfied, and under "condition 2" when "condition 2" is satisfied. Execute the described move command or the like. That is, the judgment command branches the operation trajectory by instructing a movement command to be executed thereafter according to the condition. The icons 33 and 34 indicate the start and end of the determination command, respectively. That is, the teaching pendant 30 (third processing unit) displays, in the left area 32 of the display 31, an instruction including each movement instruction and a determination instruction in an editable two-dimensional flowchart (flow chart).

In the area other than the left area 32 on the display 31, the image 10A of the robot 10 and the operation trajectories L1 to L6 and the like displaying each movement command are displayed. The range of the motion trajectory to be displayed can be specified by the operator. For example, the circle P0 is the operation start position of the robot 10. Circles P1 to P5 and the like are target positions of each movement command (Move) of the robot 10. The diamond mark J displays a judgment command. That is, each motion trajectory L1 to L6, circles P1 to P5, diamond J, and the like constitute a three-dimensional flowchart (3D flow).

FIG. 4 is a schematic diagram showing a two-dimensional flowchart. The series of processes displayed in the two-dimensional flowchart is executed by the teaching pendant 30.

The "conditional branch" is a determination command for instructing a move command (Move P1 or Move P2) to be executed thereafter depending on, for example, whether or not the condition 1 is satisfied. Then, when the condition 1 is satisfied in the "conditional branch", the "Move P1" is executed. “Move P1” is a movement command for moving the control point of the robot 10 to the target position P1.

On the other hand, when the condition 1 is not satisfied in the "conditional branch", the "Move P2" is executed. “Move P2” is a movement command for moving the control point of the robot 10 to the target position P2.

Then, after executing "Move P1" or "Move P2", the move command (Move P3) is executed. “Move P3” is a movement command for moving the control point of the robot 10 to the target position P3.

Here, the teaching pendant 30 (second processing unit) assigns each ID (each identification code) to each movement command. For example, "Move P1", "Move P2", and "Move P3" are given "1", "2", and "3" as IDs, respectively. The ID may be a code that can specify each movement command, and is composed of numbers, characters, and the like.

FIG. 5 is a schematic view showing a three-dimensional flowchart corresponding to FIG. The series of processes displayed in the three-dimensional flowchart is executed by the teaching pendant 30.

The "conditional branch" is the same as the "conditional branch" in FIG. Each arrow indicates each move command. Specifically, the base position of each arrow indicates each movement source position of each movement command. The tip position of each arrow indicates each target position of each movement command. The straight line portion (line portion) of each arrow indicates the operation trajectory of the robot 10 according to each movement command. That is, the teaching pendant 30 (first processing unit) displays each movement command according to each movement trajectory from each movement source position to each target position of the robot 10.

Here, the teaching pendant 30 (second processing unit) assigns each ID (each identification code) to each arrow (each operation trajectory) displaying each movement command. The ID assigned to each movement command in FIG. 4 corresponds to the ID assigned to each arrow in FIG. That is, the teaching pendant 30 assigns the same ID as each ID given to each moving movement command to each arrow of FIG. 5 corresponding to each moving command of FIG. Then, the teaching pendant 30 assigns the same ID to a plurality of (separate) arrows displaying the same movement command. For example, the dashed arrows A1 and A2 displaying the move command "Move P3" of the ID "3" are given the same ID "3". It can be said that the teaching pendant 30 assigns the same ID as each ID assigned to each arrow in FIG. 5 to each movement command corresponding to each arrow in FIG. 5 in the two-dimensional flowchart of FIG.

FIG. 6 is a schematic diagram showing a procedure for creating a program. The teaching pendant 30 assists the operator in creating a program.

In "1. Initial state", the two-dimensional flowchart (2D flow) displays "Start" indicating the start of processing and "End" indicating the end of processing. The image 10A of the robot 10 is displayed in the three-dimensional flowchart (3D flow).

In "2. Add command", the operator moves the pointer 40 to the icon 36 of "Add move command" displayed on the display 31 and clicks (executes) it by operating the mouse. As a result, the movement command "Move P1" is added to the two-dimensional flowchart. The target position P1 of the movement command is input by the operator according to the procedure described later. An arrow 51 for displaying the movement command "Move P1" is added to the three-dimensional flowchart. The tip of the arrow 51 corresponds to the target position P1.

Here, the teaching pendant 30 (second processing unit) assigns the same ID to the movement command "Move P1" in the two-dimensional flowchart and the arrow 51 displaying the movement command "Move P1" in the three-dimensional flowchart. .. Further, as shown in FIGS. 4 and 5, when the move commands "Move P1" and "Move P2" are executed after the "conditional branch", the arrows A1 and A1 for displaying the same move command "Move P3" are displayed. A2 occurs. In that case, the same ID "3" is assigned to the move command "Move P3" and the arrows A1 and A2 displaying the same move command "Move P3".

In "3. Add command", the operator moves the pointer 40 to the icon 36 of "Add move command" displayed on the display 31 and clicks it by operating the mouse. As a result, the movement command "Move P2" is added to the two-dimensional flowchart. An arrow 52 for displaying the movement command "Move P2" is added to the three-dimensional flowchart. The tip of the arrow 52 corresponds to the target position P2. The method of assigning an ID to the move command and the arrow is the same as in "2. Add command", but an ID different from the ID assigned so far is assigned.

FIG. 7 is a schematic diagram showing the editing of the movement command in the two-dimensional flowchart and the reflection of the editing result in the three-dimensional flowchart.

The teaching pendant 30 (third processing unit) displays each movement command in a two-dimensional flowchart so as to be selectable. Here, the move command "Move P2" is selected. Then, when any movement command is selected in the teaching pendant 30 (first processing unit), the same ID as the ID given to the selected movement command in the three-dimensional flowchart is assigned. The selected arrow is displayed in a state indicating that it has been selected.

For example, in the two-dimensional flowchart, the move command "Move P2" is selected, and in the three-dimensional flowchart, the arrow 52 to which the same ID as the ID given to the selected move command "Move P2" is given is another. It is displayed by an arrow thicker than the arrows 51 and 53 of. Further, when the movement command corresponding to the plurality of arrows is selected, all the plurality of arrows displaying the selected movement command are displayed in a state indicating that they have been selected. The color of the arrow 52 may be different from the colors of the other arrows 51 and 53.

When each movement command was edited in the two-dimensional flowchart, the teaching pendant 30 (fourth processing unit) was given the same ID as each ID given to each edited movement command in the three-dimensional flowchart. Each arrow reflects the result of editing each move command. For example, when the movement command "Move P2" is selected in the two-dimensional flowchart, the teaching pendant 30 (third processing unit) displays the window W1 on the display 31. The window W1 includes an input field for coordinates X, Y, Z of the target position P2 of the move command “Move P2” and an input field for angles RX, RY, RZ. The operator changes (sets) the target position P2 by inputting numbers in these input fields, that is, edits the move command "Move P2".

Then, when the operator changes the coordinates X, Y, Z, angles RX, RY, and RZ of the target position P2, the teaching pendant 30 displays the movement command "Move P2" as shown in the three-dimensional flowchart. The tip position of the arrow 52 is changed. Along with this, the teaching pendant 30 changes the root position of the arrow 53, that is, the movement source position of the movement command “Move P3”. Since the target position P3 of the movement command “Move P3” has not been changed, the tip position of the arrow 53 has not been changed.

FIG. 8 is a schematic diagram showing editing of an arrow representing an operation trajectory in a three-dimensional flowchart and reflection of the editing result on the two-dimensional flowchart.

The teaching pendant 30 (first processing unit) displays the arrows 51 to 53 in a three-dimensional flowchart so that they can be selected and edited. Then, when any of the arrows displaying each movement command is selected, the teaching pendant 30 (third processing unit) is assigned a movement command having the same ID as the ID given to the selected arrow. Is displayed in a state indicating that it has been selected in the two-dimensional flowchart.

For example, the arrow 52 that displays the move command "Move P2" is selected, and the move command "Move P2" that is given the same ID as the ID given to the selected arrow 52 is another in the two-dimensional flowchart. It is displayed surrounded by a frame thicker than the frame surrounding the command of. The color of the frame surrounding "Move P2" may be different from the color of the frame surrounding other commands.

Further, when any of the arrows displaying each movement command is selected, the teaching pendant 30 selects all the arrows to which the same ID as the ID given to the selected arrow is given. It is displayed in a state indicating that. For example, in FIG. 5, when the arrow A1 for displaying the movement command “Move P3” is selected, “3” which is the same ID as “3” which is the ID given to the selected arrow A1 is given. The arrow A2 is displayed in a state indicating that it has been selected.

When the arrow displaying each movement command is edited, the teaching pendant 30 (fourth processing unit) gives each movement command the same ID as the ID given to the edited arrow in the two-dimensional flowchart. Each arrow reflects the edited result. For example, the operator changes (sets) the target position P2 by dragging the tip of the arrow 52 in the three-dimensional flowchart, that is, edits the arrow 52 that displays the movement command “Move P2”. .. Along with this, the teaching pendant 30 changes the root position of the arrow 53, that is, the movement source position of the movement command “Move P3”. The tip position of the arrow 53 has not been changed.

Then, as shown in the three-dimensional flowchart, when the operator changes the tip position of the arrow 52, the teaching pendant 30 has the coordinates X, Y, Z, angles RX, RY, RZ of the target position P2 in the window W1. Change the number. That is, in the two-dimensional flowchart, the movement command "Move P2" corresponding to the arrow 52 is changed.

The present embodiment described in detail above has the following advantages.

The teaching pendant 30 (first processing unit) displays each movement command by each arrow indicating each movement trajectory from each movement source position to each target position of the robot 10. Therefore, the movement command "Move P3" after the arrow indicating the operation trajectory is branched by the determination command is displayed as a plurality of arrows A1 and A2 in which the same movement command "Move P3" is different. In this respect, the teaching pendant 30 (second processing unit) assigns each ID to each arrow displaying each movement command, and is the same for a plurality of different arrows A1 and A2 displaying the same movement command "Move P3". The ID "3" is given. Therefore, the teaching pendant 30 (robot program creation support device) uses the same movement command "Move P3" to display a plurality of different arrows A1 and A2 for displaying the same movement command "Move P3" based on the ID. Can be recognized as being. Therefore, in the program creation support device, it is possible to suppress erroneous recognition of each movement instruction.

-In the left area 32 of the display 31, the teaching pendant 30 (third processing unit) displays an instruction including each movement instruction and a determination instruction in an editable two-dimensional flowchart. Therefore, the operator can create a program by editing the instruction including each movement instruction and the determination instruction displayed in the two-dimensional flowchart. Further, the teaching pendant 30 (first processing unit) makes it possible to edit the arrows 51 to 53 for displaying each movement command. Therefore, the operator can edit each of the arrows 51 to 53 for displaying each movement command and adjust each of the arrows 51 to 53.

-The teaching pendant 30 (second processing unit) assigns the same ID as each ID assigned to each arrow to each movement command corresponding to each arrow in the two-dimensional flowchart. Therefore, each arrow displaying each movement command and each movement command in the two-dimensional flowchart can be associated with each other by an ID. Here, the teaching pendant 30 (fourth processing unit) is assigned to each of the edited arrows 51 to 53 in the two-dimensional flowchart when the arrows 51 to 53 for displaying each movement command are edited. The result of editing each of the arrows 51 to 53 is reflected in each movement command to which the same ID as the ID is assigned. Therefore, the operator can edit each movement command associated with the ID in the two-dimensional flowchart by editing the arrows 51 to 53 displaying each movement command.

-Since the same ID "3" is assigned to a plurality of different arrows A1 and A2 displaying the same movement command "Move P3", a plurality of different arrows A1 and A1 displaying the same movement command "Move P3" are assigned. By editing any of A2, the move command associated with the ID "3" can be edited.

When each movement command is edited in the two-dimensional flowchart, the teaching pendant 30 (fourth processing unit) is assigned each arrow 51 to the same ID as each ID given to each edited movement command. The result of editing each move command is reflected in 53. According to such a configuration, the operator can edit each of the arrows 51 to 53 associated with the ID by editing each movement command in the two-dimensional flowchart.

-Since the same ID "3" is assigned to a plurality of different arrows A1 and A2 displaying the same movement command "Move P3", if each movement command is edited in the two-dimensional flowchart, the ID "3" can be used. A plurality of different arrows A1 and A2 for displaying the same movement command "Move P3" associated with each other can be edited together.

-The teaching pendant 30 (third processing unit) displays each movement command in a two-dimensional flowchart so as to be selectable. Therefore, the operator can select the movement command to be edited in the two-dimensional flowchart. When the move command "Move P2" is selected in the two-dimensional flowchart, the teaching pendant 30 (first processing unit) is given the same ID as the ID given to the selected move command "Move P2". The arrow 52 is displayed in a state indicating that it has been selected. Therefore, when the movement command "Move P2" is selected in the two-dimensional flowchart, the operator can easily grasp the arrow 52 for displaying the selected movement command "Move P2".

-The same ID "3" is assigned to a plurality of different arrows A1 and A2 that display the same movement command "Move P3". Therefore, when the movement command "Move P3" corresponding to the plurality of arrows A1 and A2 is selected, it indicates that all of the plurality of arrows A1 and A2 displaying the selected movement command "Move P3" have been selected. It can be displayed in the state. Therefore, the operator can easily grasp the correspondence between the movement command “Move P3” and the arrows A1 and A2.

-The teaching pendant 30 (first processing unit) displays arrows 51 to 53 in a selectable manner. Therefore, the operator can select the arrows 51 to 53 that he / she wants to edit. When the arrow 52 for displaying the move command "Move P2" is selected, the teaching pendant 30 (third processing unit) gives the move command "the same ID as the ID given to the selected arrow 52". "Move P2" is displayed in a state indicating that it has been selected in the two-dimensional flowchart. Therefore, when the operator selects the arrow 52 for displaying the move command "Move P2", the operator can easily grasp the move command "Move P2" corresponding to the selected arrow 52 in the two-dimensional flowchart.

-The same ID "3" is assigned to a plurality of different arrows A1 and A2 that display the same movement command "Move P3". Therefore, regardless of which of the plurality of different arrows A1 and A2 displaying the same movement command "Move P3" is selected, the movement command "Move P3" associated with the selected arrows A1 and A2 by the ID "3" is used. Can be displayed in a state indicating that it has been selected in the two-dimensional flowchart. Therefore, the operator can easily grasp the correspondence between the arrows A1 and A2 and each movement command.

-The teaching pendant 30 (first processing unit) is the same as the ID "3" assigned to the selected arrows A1 and A2 when any of the arrows A1 and A2 for displaying each movement command is selected. All the arrows A1 and A2 to which the ID "3" is assigned are displayed in a state indicating that they have been selected. According to such a configuration, when any one of a plurality of different arrows A1 and A2 for displaying the same movement command "Move P3" is selected, the same ID "3" as the selected arrows A1 and A2 is assigned. All arrows A1 and A2 can be displayed in a state indicating that they have been selected. Therefore, the operator can easily grasp all the arrows A1 and A2 displaying the same movement command "Move P3".

It should be noted that the above embodiment can be modified and implemented as follows. The same parts as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted.

-For example, as shown in FIG. 5, there may be a case where an operator wants the arrows A1 and A2 representing a plurality of different motion trajectories to move to a common target position to correspond to a plurality of different movement commands. In this respect, the teaching pendant 30 (second processing unit) may be able to edit each ID assigned to each arrow (each motion trajectory). As a result, the worker can change the correspondence between the arrow and the move command by editing the ID given to the arrow.

-The teaching pendant 30 (first processing unit) is the same as the ID "3" assigned to the selected arrows A1 and A2 when any of the arrows A1 and A2 for displaying each movement command is selected. It is not necessary to display all the arrows A1 and A2 to which the ID "3" is given in a state indicating that they have been selected.

-When any of the arrows 51 to 53 for displaying each movement command is selected, the teaching pendant 30 (third processing unit) is given the same ID as the ID given to the selected arrow 52. It is not necessary to display the move command "Move P2" in a state indicating that it has been selected in the two-dimensional flowchart. For example, the teaching pendant 30 is given the same ID as each ID given to each edited arrow 51 to 53 in the two-dimensional flowchart when each arrow 51 to 53 displaying each movement command is edited. It may be performed only to reflect the edited result of each arrow 51 to 53 in each movement command issued.

-When the movement command "Move P2" is selected in the two-dimensional flowchart, the teaching pendant 30 (first processing unit) is given the same ID as the ID given to the selected movement command "Move P2". It is not necessary to display the arrow 52 in a state indicating that the arrow 52 has been selected. For example, when each movement command is edited in the two-dimensional flowchart, the teaching pendant 30 moves to each of the arrows 51 to 53 to which the same ID as each ID given to each edited movement command is assigned. It may only reflect the result of the instruction being edited.

-Each movement command may be displayed with a symbol different from the arrow. For example, each movement command may be displayed by a straight line (line) representing an operation trajectory and a number of a target position.

-In the above embodiment, the robot program creation support device is realized by the teaching pendant 30. On the other hand, a robot program creation support device can also be realized by a PC (personal computer) and a monitor (display unit) connected to the controller 20.

-In a glasses-type display device that displays a virtual image superimposed on a real landscape, an arrow indicating the operation trajectory of the robot 10, each target position, a diamond mark J indicating a judgment command, and the like are displayed at positions corresponding to the robot 10. You can also do it. Specifically, the robot program creation support device acquires the viewpoint position of the operator from the eyeglass-type display device, and determines the installation position and posture of the robot 10 from the controller 20, the teaching pendant 30, or preset data or the like. The virtual image is acquired and displayed so as to overlap the worker's field of view based on the viewpoint position of the worker, the installation position and the posture of the robot 10.

-The robot 10 is not limited to a vertical articulated robot, but may be a horizontal articulated robot or the like.

10 ... Robot, 20 ... Controller, 30 ... Teaching pendant (robot program creation support device), 31 ... Display (display unit).

Claims (7)

The display is provided with a display unit that displays the motion trajectory of the robot at a position corresponding to the robot, and creates a program including each movement command for moving the robot and a branch command for branching the motion trajectory according to a condition. It is a support device that supports using the department,
A first processing unit that displays each movement command according to each movement trajectory from each movement source position to each target position of the robot, and
A second processing unit that assigns each identification code to each operation trajectory that displays each movement command and assigns the same identification code to a plurality of different operation trajectories that display the same movement instruction.
A robot program creation support device equipped with. In the predetermined display area of the display unit, a third processing unit that editably displays the instruction including each movement instruction and the branch instruction in a flowchart is provided.
The first processing unit makes it possible to edit each operation trajectory that displays each movement command.
In the flowchart, the second processing unit assigns the same identification code as the identification code given to each operation trajectory to each movement command corresponding to each operation trajectory.
When each of the operation trajectories displaying the respective movement commands is edited, in the flowchart, each of the movements to which the same identification code as the identification code assigned to each of the edited operation trajectories is assigned. The robot program creation support device according to claim 1, wherein the instruction includes a fourth processing unit that reflects the result of editing each of the motion trajectories. When each of the movement commands is edited in the flowchart, the fourth processing unit is assigned the same identification code as the identification code given to each of the edited movement commands. The robot program creation support device according to claim 2, which reflects the result of editing each of the movement commands. The third processing unit displays each of the movement commands in a selectable manner in the flowchart.
When any of the movement commands is selected in the flowchart, the first processing unit uses the operation trajectory to which the same identification code as the identification code given to the selected movement command is assigned. The robot program creation support device according to claim 2 or 3, which displays a state indicating that the robot has been selected. The first processing unit displays each of the operation trajectories in a selectable manner.
When any of the operation trajectories displaying the movement commands is selected, the third processing unit is assigned the same identification code as the identification code assigned to the selected operation trajectory. The robot program creation support device according to any one of claims 2 to 4, which displays the movement command in a state indicating that it has been selected in the flowchart. When any of the operation trajectories displaying the movement commands is selected, the first processing unit is assigned the same identification code as the identification code assigned to the selected operation trajectory. The robot program creation support device according to claim 5, wherein all the motion trajectories are displayed in a state indicating that they have been selected. The robot program creation support device according to any one of claims 1 to 6, wherein the second processing unit makes it possible to edit each of the identification codes assigned to the respective operation trajectories.

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