WO2025052648A1 - Robot operation device and action program - Google Patents

Abstract

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

Description

Robot operation device and operation program

This disclosure relates to a robot operation device and an operation program.

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

JP 2021-151696 A Japanese Patent Application Publication No. 11-079407

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

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

1 is a plan view showing an overall configuration of a system according to an embodiment of the present disclosure. FIG. 2 is a block diagram of a robot operation device and a robot in the system of FIG. 1. FIG. 4 is a diagram showing an example of a menu displayed on a display unit. 11A and 11B are diagrams illustrating examples of a UI screen and a system setting screen. FIG. 13 is a diagram illustrating an example of a system setting screen. FIG. 13 is a diagram illustrating an example of a system setting screen. FIG. 13 is a diagram showing an example of a cargo setting screen. FIG. 13 is a diagram showing an example of a cargo setting screen. FIG. 13 is a diagram showing an example of a cargo setting screen. FIG. 13 is a diagram showing an example of a cargo setting screen. FIG. 13 is a diagram showing an example of a cargo setting screen. FIG. 13 is a diagram showing an example of an execution screen. FIG. 13 is a diagram showing an example of an editing screen for a control program. 1 is a flowchart of a method for operating a robot manipulation device.

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

The robot 20 includes a mechanical unit 21, a gripper 22 for gripping a load W, and a control device 23.
The mechanical unit 21 is an industrial robot generally used for palletizing, such as a vertical articulated robot, a horizontal articulated robot, or a parallel link type robot. The gripper 22 is connected to a wrist flange at the tip of an arm of the mechanical unit 21. The mechanical unit 21 may be a collaborative robot that works in a common space with a user. The mechanical unit 21 may be a humanoid robot.
The control device 23 includes a processor, a memory, and a storage unit, and the storage unit stores in advance a control program for causing the mechanical unit 22 to execute a palletizing operation. The processor of the control device 23 controls the mechanical unit 21 and the gripper 22 in accordance with the control program.

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

As shown in FIG. 2, the robot operation device 10 includes a processor 1, a display unit 2, an input unit 3, a memory 4, and a storage unit 5.
The processor 1 is composed of a CPU (Central Processing Unit) or a quantum processor or the like.
The display unit 2 is configured with a liquid crystal display device, an organic EL display device, or the like.

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

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

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

As shown in FIG. 3, the screen control unit 11 may cause the display unit 2 to display a menu icon (e.g., a hamburger menu) that can be selected from a plurality of menus, and may cause the display unit 2 to display the UI screen A when a specific menu (e.g., a palletizing menu) is selected.

4, the UI screen A includes a graphic B of the robot 20, a load W, etc., and an operation screen C that accepts operations from a user. The graphic B and the operation screen C are displayed simultaneously, with the graphic B being disposed at the top of the UI screen A and the operation screen C being disposed at the bottom of the UI screen A. The arrangement of the graphic B and the operation screen C can be changed as appropriate.
Graphic B includes three-dimensional models of the mechanism 21, gripper 22, conveyor 30, pallet 40, and load W arranged in a three-dimensional virtual space. As described below, the three-dimensional models in graphic B change over time according to settings made on operation screen C or according to the progress of the palletizing work. Therefore, graphic B is a four-dimensional graphic.

The operation screen C includes three screens D1, D2, and D3 (see FIG. 4, FIG. 6A, and FIG. 7A) and three tabs E1, E2, and E3 corresponding to the three screens D1, D2, and D3, respectively. All three tabs E1, E2, and E3 are always displayed, and the three screens D1, D2, and D3 are alternatively displayed. In FIG. 4, the screen D1 is displayed, and the screens D2 and D3 are not displayed.
The screen control unit 11 switches among the screens D1, D2, and D3 displayed on the display unit 2 in response to the operation of the tabs E1, E2, and E3. For example, the screen control unit 11 displays the screen D1 corresponding to the tapped tab E1.

The three screens are a system setting screen (first setting screen) D1, a load setting screen (second setting screen) D2, and an execution screen D3. The screens D1, D2, and D3 are classified according to frequency of use. The user can perform all operations from settings related to the system 100 and the load W to daily operation of the robot 20 at the palletizing work site using the three screens D1, D2, and D3.
4 shows an operation screen C including three screens D1, D2, and D3 and three tabs E1, E2, and E3 corresponding to the three screens D1, D2, and D3, respectively, but the number of screens and the tabs corresponding to each screen is not limited to three. For example, one tab may be provided for one screen that combines the system setting screen and the cargo setting screen. In addition, the settings of the gripper, pallet, conveyor, path, etc. on the system setting screen D1 and the editing screen for the control program included in the execution screen D3 may be separated into separate screens and tabs.

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

5A and 5B show an example of the system setting screen D1.
The system setting screen D1 accepts settings of the origin positions (reference positions) of the gripper 22, the conveyor 30, and the pallet 40, and settings of input/output signals. The system setting screen D1 in Fig. 4 is divided into two areas, left and right, with the left area including a list of setting items (gripper, pallet, conveyor, etc.) and the right area displaying screens D11, D12, and D13 (see Figs. 5B and 5C) corresponding to a setting item selected from the list.

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

5B shows an example of a setting screen D12 for the conveyor 30 and a setting screen D13 for the pallet 40. Each of the setting screens D12 and D13 has a setting field for setting the position and orientation (X, Y, Z, W, P, R) of the origin of the conveyor 30 or the pallet 40. The origin of each of the conveyor 30 and the pallet 40 is, for example, a predetermined corner located near the mechanical unit 21, and the position and orientation of these origins are the position and orientation in a robot coordinate system fixed with respect to the mechanical unit 21.
For example, the user operates the robot operation device 10 to move the mechanism unit 21 to the origin, and teaches the robot 20 the position and orientation of the origin by, for example, operating a teach button (not shown) displayed on the display unit 2. The screen control unit 11 acquires the taught position and orientation from the robot 20, and inputs and sets the position and orientation in a setting field.
Each of the setting screens D12 and D13 may be capable of setting input signals/output signals in addition to setting the origin.
For example, in the case where a sensor is used to detect that the load W on the conveyor 30 has reached a predetermined position, the setting screen D12 may be capable of setting an input signal from the sensor. In addition, the setting screen D12 may be capable of setting an output signal that requests the conveyor 30 to supply the load W or the orientation of the load W when supplying the load.
If a sensor is used to detect that the pallet 40 is placed in a predetermined position, the setting screen D13 may be capable of setting an input signal from the sensor.

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

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

6A to 6E show examples of the cargo setting screen D2.
The load setting screen D2 accepts settings of the dimensions of the loads W and the pallets 40, and settings of a loading pattern for the loads W. The loading pattern includes an arrangement pattern of the loads W in each layer, and a layer structure. The load setting screen D2 may further accept settings of a path between the conveyor 30 and the pallets 40. The load setting screen D2 in Fig. 6A is divided into two areas, left and right, with the left area including a list of setting items (dimensions, arrangement pattern, layers, path), and the right area displaying screens D21, D22, D23, and D24 (see Figs. 6B to 6E) corresponding to the setting items selected from the list.

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

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

6D shows a setting screen D23 for the layer structure. The setting screen D23 has a setting field in which the number of layers is set. For example, the user can set the number in the setting field by inputting a numerical value. The setting screen D23 may further allow the user to set the orientation of each layer.
6D, the screen control unit 11 may generate a graphic G2 of the layer structure based on the set number and orientation, and display the graphic G2. "Flipped" indicates a flipped layer.
The setting screen D23 may be capable of setting the arrangement of the slip sheet. For example, the setting screen D23 has a setting field in which the thickness of the slip sheet is set and check boxes arranged next to each layer, and the arrangement of the slip sheet can be set by inputting information into the check boxes.

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

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

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

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

The command control unit 12 generates a command based on the instruction received by the execution screen D3, and transmits the command to the control device 23.
For example, when the “Execute” icon I is tapped, the command control unit 12 generates setting data including the setting contents based on the settings of the setting screens D1 and D2, generates an execution command for the control program, and transmits the setting data and the execution command to the control device 23.
In addition, when the “cycle stop”, “pause” or “end” icon I is tapped, a command corresponding to the tapped icon I is generated and the command is transmitted to the control device 23 .

The execution screen D3 may include progress information F of the palletizing work. In FIG. 7A, the progress information F represents the progress for two pallets 40, "pallet 1" and "pallet 2." During execution of the control program, the screen control unit 11 obtains information on the progress of the control program from the control device 23, and updates the progress information F according to the progress of the control program.

While the control program is being executed, the screen control unit 11 changes graphic B in accordance with the progress of the control program. As a result, graphic B is updated in real time as the palletizing work progresses so as to represent the current state of the robot 20 and the load W on the pallet 40. Therefore, the user can check the current status of the palletizing work from graphic B.

The screen control unit 11 may change the execution screen D3 according to the execution status of the control program. For example, when the control program is not being executed, the screen control unit 11 enables the "Execute" icon I and disables the "Cycle stop", "Pause" and "Stop" icons I. During execution of the control program, the screen control unit 11 disables the "Execute" icon I and enables the "Cycle stop", "Pause" and "Stop" icons I. The disabled icons I are, for example, grayed out and can be distinguished from the enabled icons I. The user can check the current execution status of the control program based on the state of the icons I.

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

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

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

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

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

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

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

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

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

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

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

In the above embodiment, the settings related to the device may be automatically performed using a plug-in.
For example, when a plug-in associated with the gripper 22 is installed in the robot operation device 10, the screen control unit 11 automatically sets the weight and the position and orientation of the origin of the gripper 22 in the setting fields based on the plug-in.
According to this configuration, the operations required by the user can be reduced and further simplified.

The above describes the embodiments and modifications of the present disclosure. However, the robot device and operation program of the present disclosure are not limited to the above-described embodiments and modifications, and various modifications may be made without departing from the spirit and scope of the present disclosure.
For example, the robot operation device may be any computer having a display unit 2, such as a control device 23 having a display unit 2 or a PC connected to the control device 23, or it may be a stationary computer.

The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples.
(Appendix 1)
A robot operation device connected to a robot that performs a palletizing operation of stacking loads on a pallet,
A display unit;
a screen control unit that causes the display unit to display a user interface screen and controls the user interface screen;
a command control unit that generates a command for the robot based on an operation on the user interface screen and transmits the command to the robot,
the user interface screen includes graphics of the robot and the cargo, and an operation screen that accepts an operation by a user;
the operation screen includes three screens that are alternatively displayed and three tabs that respectively correspond to the three screens, the three screens being comprised of a first setting screen for setting devices used in the palletizing work, a second setting screen for setting the cargo, and an execution screen for issuing instructions regarding the execution of the palletizing work;
The screen control unit,
Switching the three screens displayed on the display unit in response to an operation of the tab, and
A robot operation device that changes the graphic in accordance with settings made on the first setting screen and the second setting screen, or in accordance with a progress of the palletizing operation.

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

(Appendix 4)
The robot operation device according to any one of appendix 1 to appendix 3, wherein the second setting screen accepts settings including at least any one of the dimensions, loading pattern, and route of the cargo.
(Appendix 5)
the second setting screen has a graphic of the cargo;
The robot operation device of claim 4, wherein the screen control unit changes the graphics of the cargo according to the dimensions of the cargo and the loading pattern settings.

(Appendix 6)
the execution screen includes an edit screen that allows a user to select from among one or more of the settings made on the first setting screen and one or more of the settings made on the second setting screen,
The robot operation device according to claim 2, wherein the command control unit generates the setting data or the control program based on a combination of settings selected on the editing screen.
(Appendix 7)
the execution screen includes progress information of the palletizing operation,
The robot operation device according to claim 2, wherein the screen control unit updates the progress information in accordance with the progress of the control program.
(Appendix 8)
The robot operation device according to any one of claims 1 to 7, wherein the robot operation device is a portable teaching operation panel.

(Appendix 9)
An operation program for a robot operation device connected to a robot that performs a palletizing operation of stacking loads on a pallet,
displaying a user interface screen on a display unit of the robot operation device, the user interface screen including graphics of the robot and the load, and an operation screen for receiving an operation from a user;
controlling the user interface screen based on the operation;
generating an instruction for performing the palletizing operation based on the operation and transmitting the instruction to the robot;
the operation screen includes three screens that are alternatively displayed and three tabs that respectively correspond to the three screens, the three screens being comprised of a first setting screen for setting devices used in the palletizing work, a second setting screen for setting the cargo, and an execution screen for issuing instructions regarding the execution of the palletizing work;
The step of controlling includes:
switching between the three screens in response to an operation of the tab;
changing the graphic according to settings made on the first setting screen and the second setting screen, or according to a progress of the palletizing operation.

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

Claims (9)

A robot operation device connected to a robot that performs a palletizing operation of stacking loads on a pallet,
A display unit;
a screen control unit that causes the display unit to display a user interface screen and controls the user interface screen;
a command control unit that generates a command for the robot based on an operation on the user interface screen and transmits the command to the robot,
the user interface screen includes graphics of the robot and the cargo, and an operation screen that accepts an operation by a user;
the operation screen includes three screens that are alternatively displayed and three tabs that respectively correspond to the three screens, the three screens being comprised of a first setting screen for setting devices used in the palletizing work, a second setting screen for setting the cargo, and an execution screen for issuing instructions regarding the execution of the palletizing work;
The screen control unit,
Switching the three screens displayed on the display unit in response to an operation of the tab, and
A robot operation device that changes the graphic in accordance with settings made on the first setting screen and the second setting screen, or in accordance with a progress of the palletizing operation. the instruction includes setting data based on settings made on the first setting screen and the second setting screen, or a control program for causing the robot to execute the palletizing work,
The robot operation device according to claim 1 , wherein the command control unit generates the setting data or the control program based on settings made on the first setting screen and the second setting screen. The robot operation device according to claim 1 or 2, wherein the first setting screen accepts settings including at least the reference positions of the gripper of the robot, the conveyor that supplies the load, and the pallet, and any of the input and output signals. The robot operation device according to any one of claims 1 to 3, wherein the second setting screen accepts settings including at least the dimensions, loading pattern, and route of the cargo. the second setting screen has a graphic of the cargo;
The robot operation device according to claim 4 , wherein the screen control unit changes a graphic of the cargo in accordance with a setting of a size of the cargo and a loading pattern. the execution screen includes an edit screen that allows a user to select from among one or more of the settings made on the first setting screen and one or more of the settings made on the second setting screen,
The robot operation device according to claim 2 , wherein the command control unit generates the setting data or the control program based on a combination of settings selected on the editing screen. the execution screen includes progress information of the palletizing operation,
The robot operation device according to claim 2 , wherein the screen control unit updates the progress information in accordance with the progress of the control program. The robot operation device according to any one of claims 1 to 7, wherein the robot operation device is a portable teaching operation panel. An operation program for a robot operation device connected to a robot that performs a palletizing operation of stacking loads on a pallet,
displaying a user interface screen on a display unit of the robot operation device, the user interface screen including graphics of the robot and the load, and an operation screen for receiving an operation from a user;
controlling the user interface screen based on the operation;
generating an instruction for performing the palletizing operation based on the operation and transmitting the instruction to the robot;
the operation screen includes three screens that are alternatively displayed and three tabs that respectively correspond to the three screens, the three screens being comprised of a first setting screen for setting devices used in the palletizing work, a second setting screen for setting the cargo, and an execution screen for issuing instructions regarding the execution of the palletizing work;
The step of controlling includes:
switching between the three screens in response to an operation of the tab;
changing the graphic according to settings made on the first setting screen and the second setting screen, or according to a progress of the palletizing operation.

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