JP2007242054A - Robot language processing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot language processing apparatus, which facilitates grasping of a teach content and also enables even a beginner to easily perform programming or teaching of a work program by changing conventional character-based language expression and editing method for a robot language to graphical expressions. <P>SOLUTION: The robot language processing apparatus includes a display device for graphically displaying a screen and designating a position in the display screen with a pointing device; a memory for storing a robot program; a graphical language processor for displaying an operation section and an air-cut section as successive lines on the display device by referring to the robot program, and controlling the display device to display the type of an operation detail at either one of the lines when the either one of the displayed lines is designated by the pointing device. The robot language processing apparatus is capable of teaching based on a graphical user interface. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a robot language processing device such as a program display device and teaching device used for teaching industrial robots, and a programming pendant. In particular, the programming content can be displayed graphically, and program editing and robot teaching can be easily performed. The present invention relates to a robot language processing apparatus that can be used.

  For teaching industrial robots, especially teaching and playback type industrial robots with more than three degrees of freedom, use a small user interface device called a programming pendant or teaching box connected to the robot controller. Many. In some cases, an application program is created using a programming language for robot control, and the robot is operated using the application program.

  Even when an application program is created in Offlan and the robot is operated based on it, it is difficult to accurately describe the detailed movement according to the actual work shape etc. using the application program. Often, application programs are modified while moving. That is, it is general that the rough movement is described in advance by an application program, and the detailed movement is taught while actually moving the robot using a programming pendant. When modifying the application program, it is necessary to display the application program to the user in some form, so a programming pendant or the like is used as the program display device.

  Hereinafter, although a welding robot will be described as an example of a teaching / playback type industrial robot, it goes without saying that the present invention is not limited to the welding robot.

  As shown in FIG. 1, a conventional teaching playback type welding robot program display device is typically configured as a programming pendant 90. The programming pendant 90 is provided with a display screen 91 that is generally called a job (JOB) screen in order to perform various displays for the user, and a plurality of inputs for inputting commands, numerical values, direction information, and the like. A key 94 is provided. The programming pendant 90 is connected to the control device of the robot by a cable 96 including a signal line and a power line, and other information input means 97 such as a pointing device is also connected. The programming pendant 90 is supplied with power from the control device side via the cable 96, exchanges information with the control device, and inputs information by the input key 94 and other information input means 97. The robot program language is written on the display screen 91 based on the exchanged information. In the example shown in the figure, four lines of programs from “JOB-40” to “END” are displayed on a character basis.

  By the way, there are a compiler type and an interpreter type as programming languages for controlling the industrial robot. The compiler type robot language is in a high-level language form, and is used for actual robot operation control after compiling a source program in advance and converting it into an execution format. On the other hand, the interpreter type robot language is composed of a group of primitive instructions. When robot operation control is performed using an interpreter type robot language, commands are input from a programming pendant, and at the same time, the operation position of the robot is stored, and these commands are sequentially executed by the interpreter. In any type of robot language, when the user refers to and edits, the application program is displayed as a list of characters.

  However, in the conventional program display device described above, since the work content performed by the robot is displayed as a program list in the robot language, there is a problem that it is difficult to grasp the actual work content. In addition, since the language expression on the character base is used, when trying to create or edit a program using a program display device or a programming pendant, the teaching worker uses instructions defined in the robot language. It is necessary to understand its meaning. However, it has been difficult for unskilled persons to master robot language commands, and much time has been required to learn them. In addition, robot-specific character-based expressions cannot be used to express robot-specific movements, so whether robot movement command teaching is correct, where to write specific commands in peripheral device control program descriptions, etc. However, there is a problem that it cannot be understood unless an actual robot is operated. Even when confirming the created work program, it is impossible to know what instruction is being given to the peripheral device at which position, and so on.

  For example, in a welding robot, when a program is displayed on a character basis, if there is a command that represents a section, such as the start or end of a parallel shift operation or the start or end of welding, where is that section from? Had to search for and recognize the start and end commands in the list of commands. When setting a section, since only one of a start instruction and an end instruction can be input, there is a possibility of creating a program in which the section is not completed. For the reasons described above, during teaching work, it is necessary to perform program creation and robot operation confirmation by executing the created program in parallel, which takes a lot of time.

  Furthermore, in the case of character-based expression, it is difficult to grasp the operation of the robot even if the created work program is referred to, and the work content by the program is often not understood unless it is actually executed by the robot controller. .

  In the present invention, an apparatus having an interface function with a user and used for teaching an industrial robot, which displays a program, creates and edits a program, converts teaching contents into a work program, and the like Are collectively referred to as a robot language processing apparatus. Specific examples of the robot language processing device include a program display device, a programming pendant, a teaching box, and a teaching device. However, the teaching device or the programming pendant generally has a function of displaying a program, and a teaching device that is particularly small and suitable for holding is called a programming pendant. Classification such as device is not an alternative.

  Hereinafter, the conventional method of teaching work using the program display device or the programming pendant as described above will be specifically examined.

  Conventionally, teaching work uses a programming pendant or the like as a teaching device. First, a robot is operated by operating a programming pendant, and position teaching is performed using instructions in a robot language or technical terms. Thereafter, an experienced worker inputs a work command from a programming pendant as a command in a robot language or a technical term based on information accumulated based on experience.

  Such a teaching method has a problem that it is difficult for beginners to learn because it is necessary to handle a robot language on a character basis and also handle specialized terms. Furthermore, in order to realize the work, it is necessary to teach an appropriate position and posture as position teaching. However, if the operator does not have sufficient skills, the appropriate position and posture of the robot cannot be known. As a result, position teaching cannot be performed. Even if the proper position and orientation for realizing the work are known, it is difficult for a person who is not familiar with the robot operation method using the axis operation keys of the program pendant to operate the robot as desired. Furthermore, even if you get a sense of the relationship between the axis key operation and the robot movement direction, you often do not know how to avoid robot-specific movement limits or interference between the robot itself and the work tool. It tends to waste a lot of time to do that.

  As for the condition teaching after the position teaching is completed, it is unknown what timing (for example, welding current, voltage, etc.) should be given to the peripheral equipment, and what is the optimal robot operating speed. And work teaching is not completed. In addition, if the maximum allowable speed of each axis of the robot is exceeded when the robot is actually operated after the position teaching is completed, it is necessary to reduce the set speed. Since it is also necessary to make adjustments, these adjustments take time. Furthermore, when the work object (work) has a complicated shape and the work object has an inclination angle or a rotation angle, considerable skill is required and appropriate conditions should be selected. Is difficult.

  Eventually, teaching of robot work programs using program pendants has been possible only by skilled engineers who have both operation skills for the robot itself and work skills for realizing the work. Since such skilled engineers are insufficient and it is difficult to train such skilled engineers, it is a factor that hinders the spread of robots.

  Therefore, several techniques have been proposed to facilitate teaching using a programming pendant. For example, in Japanese Patent Laid-Open No. 7-100635 (Patent Document 1), as an arc welding robot apparatus, the weighted average value is read and changed visually so that welding conditions can be confirmed on the spot of robot operation teaching confirmation. There is disclosed a technique in which the welding stability can be estimated from the width. This arc welding robot displays the welding current and welding voltage in real time on the teaching pendant, and displays these displays in analog form instead of digital, so that all operations can be checked with the teaching hand, reducing the work load. Like to do. That is, the arc welding robot disclosed in this publication has a robot body, a teaching pendant for inputting operation information of the robot body, and an arc welder connected to the robot body, and includes at least a welding current during welding. This is an arc welding robot apparatus in which a teaching pendant is provided with a display for displaying actual welding conditions. This publication also discloses that at least one actual welding condition during welding is displayed in an analog manner on the teaching pendant. However, this arc welding robot merely displays the welding current and welding voltage during welding in real time on the teaching pendant, and does not leave the area where the numerical display is performed.

Japanese Patent Application Laid-Open No. 4-322305 (Patent Document 2) discloses a device that displays an operation position of a robot without directly moving the robot to a teaching position as a display device. This display device includes a small transmitter for transmitting radio waves or sound wave signals, a plurality of receivers whose positions are fixed, and a calculation unit. The calculation unit is a transmitter using time difference data of signal reception. Is calculated and taught as an operation position. A display device having transmitters at two locations inside the transmitter is also disclosed. However, since this display device calculates the position of the robot from the time difference of signal reception by the calculation unit, it is not possible to display, for example, the welding trajectory and the welding conditions thereof in an easy-to-understand manner using a graphical diagram.
JP 7-100635 A JP-A-4-322305

  Therefore, the first object of the present invention is to change the conventional character-based language expression and editing method for the robot language to a graphical expression, thereby facilitating understanding of the teaching contents and easy programming for beginners. Another object of the present invention is to provide a robot language processing apparatus that can teach a work program.

  The second object of the present invention is to create and modify work content by representing the content of the created robot program as an image, especially during teaching, in the programming pendant of an industrial robot with 3 or more degrees of freedom of teaching and playback.・ To make confirmation easy.

  An object of the present invention is to provide display means capable of graphical display and designating a position on the display screen by pointing means in a programming pendant used for teaching an industrial robot having at least three degrees of freedom, and a robot target. Storage means for storing a work program in which position data is described by a movement command, a database for storing conditions relating to work, and graphical three-dimensional display of a taught locus are performed by the display means, and the displayed locus is displayed. When a straight line or a curve connecting any two movement commands is designated by the pointing means, an icon group representing work construction conditions is displayed on the display means, and the position and icon designated by the pointing means are displayed. First work construction determined based on Based on the case group and the second work execution condition group set in advance for the system including the robot, the database is searched to retrieve an appropriate work condition group, and the retrieved work condition group is stored in the robot. It is achieved by a programming pendant characterized by comprising language processing means for converting into a work instruction and automatically incorporating it into a specified position of the work program.

  It is an object of the present invention to describe display means capable of graphical display and designating a position on the display screen by pointing means in a programming pendant used for teaching an industrial robot, and describing target position data of the robot by movement commands. Storage means for storing the work program, and a symbol representing the work program is displayed on the display means, and a correspondence relationship between the symbol and the work program is stored in the storage means, and any symbol is displayed by the pointing means. It is also achieved by a programming pendant characterized by having a language processing means for processing a corresponding work program when the is designated.

  In the present invention, a mouse, an input pen, a drag ball, or the like is used as the pointing means. In particular, if a transparent tablet arranged on the display surface of the display device is used as the display means, it is preferable to use an input pen or stylus as the pointing means. If a touch panel type display means is used, the operator's finger itself becomes the pointing means.

  In the invention, a CRT, a liquid crystal display panel, a plasma display, or the like can be used as the display means. A device that can directly indicate the position on the display screen by contacting the display surface with a pointing means such as a pen is preferable. When using a mouse or trackball, the operator operates these pointing devices to specify the position and the display screen is physically separated from the viewpoint of teaching at the robot installation site. In some cases, the operability may be inferior to those that can directly specify the position.

  According to the present invention, a special effect is achieved that the work contents of the robot represented by a program such as a welding work can be confirmed at a glance. That is, the reference and editing work of the robot-based work program, which has been conventionally character-based, is based on pictographs (icons), so that even beginners can easily learn.

  Furthermore, in the present invention, the trajectory of the position data of the taught movement command group is represented by a line that is three-dimensionally represented from an arbitrary viewpoint, and the associated parameters and work commands are graphically represented by pictograms in association with the line. In addition to expressing it, the posture of robots and tools can be confirmed. For this reason, it becomes possible to recognize the work contents without actually executing the work program and operating the robot. Conventionally, the robot operation was confirmed in parallel with the creation of the program and the execution of the created program. However, according to the present invention, it is not necessary to confirm the operation, and the teaching work time can be greatly shortened. Become. In addition, when a work command is added or changed, it is not necessary to confirm an insertion place or a change place by operating the robot, and the editing work time is shortened.

  In addition, when there is a work instruction that represents a section, such as the start of welding or the end of welding, the work section can be easily understood because the color and line type of the line on the track displayed graphically are changed. Become. For this reason, the problem that it is not known whether or not it is a work section without searching for a start command and an end command in the prior art is solved. Moreover, since both the start position and the end position are set when the work section is set, there is no possibility of creating an illegal work program in which only the start command or only the end command is not registered. Since the local position and orientation can be corrected graphically, it is not necessary to operate the robot to change the posture or position, so that the editing operation time can be shortened.

  Furthermore, in the present invention, by providing a work database such as a welding condition database, the search result of the work database is converted into a work command simply by setting the work conditions on the graphical language screen in association with the displayed line. It is added at the appropriate place. Since the construction conditions themselves can be understood even by beginners of the work, a robot work program can be created even by a beginner who does not have work skills. In addition, once set construction conditions and work conditions are stored for each work program, skills dedicated to work such as welding work can be accumulated, for example, when creating work programs for similar work, As a result, the work program can be created in a short time.

  When the present invention is applied to a welding robot, an appropriate posture corresponding to the work is automatically set, and necessary posture change points are automatically added before and after the inflection point, and automatic interference avoidance is applied to these points. As a result, not only work skills are not required for position teaching, but also position teaching of only the start point, end point, and inflection point is sufficient, so even beginners unfamiliar with robot operation can perform position teaching in a short time. Become.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals represent the same or corresponding members.

First Embodiment First, the basic concept of the present invention will be described as a first embodiment. FIG. 2 shows the programming pendant 10 of this first embodiment as an example of a robot language processing apparatus that displays a robot program based on the principle concept of the present invention. This programming pendant 10 is used for teaching work of a robot. This programming pendant 10 is a so-called job screen, which is a display screen 1 that can be graphically displayed, a selection button 2, a welding speed button 3, a plurality of input keys 4 used for inputting commands, and an input as a pointing device. A pen 5 is provided, and is connected to a robot controller by a cable 6. A power line and a signal line are provided in the cable 6, and power is supplied to the programming pendant 10 from the control device side, and necessary information can be transmitted and received between the control device and the programming pendant 10. ing. In the programming pendant 10, by clicking an arbitrary position on the display screen 1 with the input pen 5, the position (coordinates) on the display screen 1 can be input to the programming pendant 10. This is a mechanism equivalent to inputting a position and a command with a pointing device such as a mouse on an information processing device such as a personal computer or a workstation based on a graphical user interface (GUI). However, the input pen 5 is used as a pointing device in this embodiment in consideration of the condition of a programming pendant for an industrial robot.

  In the present invention, a teaching / playback industrial robot having three or more degrees of freedom is assumed as the robot. Here, an arc welding robot will be described as an example of such an industrial robot. However, it should be understood that the present invention can also be applied to robots other than welding robots.

  3a and 3b show examples of display screens on the display screen 1, and here, what is displayed as a welding work section identification diagram is shown. Specifically, FIG. 3a shows a display screen 101 showing the program contents in a graphical representation, and FIG. 3b shows a display screen 102 further displaying some welding conditions and the like together with constants. ing. That is, FIG. 3a shows a welding work section identification diagram for all sections, and FIG. 3b shows an identification chart displaying the contents of detailed welding work for some sections.

  The selection button 2 at the upper left in the area where the input key 4 and the buttons 2 and 3 are arranged, the teaching content is displayed on the display screen 1 in the program language (character base) as shown in FIG. This is for selecting whether to display in a form or to display in a graphical representation as shown in FIG. 3a. By operating the selection button 2, a transition is made between a character-based display mode and a graphical representation display mode. When confirming the teaching contents, the selection button 2 is pressed to switch to the graphical expression display mode. In the programming pendant 10, when the display mode is switched to the graphical representation mode, the welding operation is performed on the display screen 1 as shown in FIG. 3 a by several welding sections (solid lines) p 1 → p 2, p 3 → p 4. Cut sections (dotted lines) are displayed divided into p2-> p3, p4-> p1. And point numbers p1, p2, p3, and p4 are added in the order of welding.

  When it is desired to look at the work information of each section in detail, the welding work section is specified by clicking on the display screen 1 with the input pen 5 a portion of the welding work section (for example, p3 → p4) that the user wants to see in detail. In addition, a normal welding line and a welding line by weaving are distinguished by a difference in display color or display line type.

  On the other hand, the welding speed is performed by pressing the welding speed button 3 adjacent to the selection button 2. When the welding speed button 3 is pressed, a bright spot corresponding to a welding spot appears on the display screen 1, and this bright spot moves on the displayed welding line based on the actual welding speed. Specific numerical values such as welding voltage, welding current, protrusion length, welding speed, number of passes, number of layers, etc. are displayed at the top of the target weld line, as shown in FIG. 3b.

  In the present invention, as seen in the above-described principle embodiment, by switching between the character-based program display and the graphical display, the work content corresponding to the program can be confirmed at a glance. .

Second Embodiment Next, an embodiment configured as a teaching environment for an actual welding work program will be described. The welding robot system shown in FIG. 4 includes a robot 40 equipped with a welding torch 41 as a work tool at the tip of an arm, a welding machine 30 that supplies welding power to the welding torch 41 via a welding power line 31, and welding. The control device 20 for controlling the machine 30 and the robot 40 and the programming pendant 11 for displaying the robot program and teaching the robot 40 are configured. The control device 20 and the welding machine 30 are connected by a welder control line 32, and the control device 20 and the robot 40 are connected by a robot control line 21. Further, the programming pendant 11 and the control device 20 are connected by a cable 6 for performing serial data transmission. In practice, a power line for supplying power from the control device 20 to the programming pendant 11 and a signal line for serial data transmission are provided inside the cable 6.

  The appearance of the programming pendant 11 is shown in FIG. 5, and the internal structure is shown in FIG. This programming pendant 11 has a function as a robot language processing device.

  This programming pendant 11 is different from the programming pendant 10 shown in FIG. 2 in that no input key or various buttons as a mechanical mechanism is provided. Instead, the programming pendant 11 is almost entirely on the upper surface of the programming pendant. An extended display screen 12 is provided. The programming pendant 11 employs so-called soft keys and soft buttons. When icons representing the keys and buttons are displayed on the display screen 12, by specifying the icons with the input pen 5, It is assumed that the corresponding key or button has been operated. Such a display screen is realized by disposing a transparent tablet on a liquid crystal display panel. Since the configuration of the display screen is a general form in a so-called personal digital assistant (PDA), for example, those skilled in the art can easily understand it. A holder 5 a for holding the input pen 5 is provided on the side surface of the programming pendant 11.

  Inside the programming pendant 11, there are a communication unit 13 for communicating with the control device 20 side, a graphical language processing unit 14 for controlling display on the display screen 12, control during program editing, and the like. , A memory 15 for storing programs and temporary data expressed as intermediate codes, a database processing unit 16, a position and orientation generation unit 17 for generating the position and orientation of the robot, and a welding condition database storing various welding conditions 18 are provided. Of these, the graphical language processing unit 14 also controls the overall operation of the programming pendant 11, and can send and receive data to and from the display screen 12, the communication unit 13, the memory 15, the database processing unit 16, and the position and orientation creation unit 17. It is like that. The database processing unit 16 executes a search of the welding condition database 18 and other database processing based on an instruction from the graphical language processing unit 14.

  The internal configuration of the programming pendant 11 has been described above. Actually, the programming pendant 11 can be composed of a computer and software that operates on the computer. Specifically, the graphical processing unit 14, the database processing unit 16, and the position / orientation generation unit 17 can be realized by software on a computer, and the part related to communication control in the communication unit 13 can also be realized by software. In particular, the graphical processing unit 14 has a function as an operating system (OS). In this embodiment, a multi-window display can be performed on the display screen 12 as a graphical user interface (GUI). It is what.

  Next, the system of this embodiment will be described by explaining the operation of the operator and the change of the display contents on the programming pendant 11. Here, a case will be described as an example in which a work program for which a movement command has already been taught is referred to and edited using the programming pendant 11 to be completed as a welding work program. FIG. 7 shows an example of the work program 102 in which a movement command has already been taught. Here, this work program is displayed according to a conventional expression method based on a character base. In FIG. 7, what is appended to the right side of the dotted line is a comment for each row of instructions. “NOP” indicates a no-operation command for executing nothing, “MOVJ” indicates a movement command for joint operation, “MOVL” indicates a movement command for linear interpolation operation, and “END” indicates the end of the program. It is an instruction.

  The programming pendant 11 can be switched between character-based program display and graphical representation display. First, the basic teaching trajectory and the display form of the torch and robot when the mode for graphical display is set will be described.

  The taught movement command group is displayed as a three-dimensional locus viewed from an arbitrary viewpoint by the graphical language processing unit 14. FIG. 8 shows the display screen 104 at this time. On the display screen 104, the “graphical language screen” is displayed in the bar at the top of the figure. This is because the movement command group is displayed within one display window in the multi-window display. Is shown. At this time, a joint operation section, that is, a section of a mode in which each axis operates simultaneously without stopping and interpolating between points is displayed with a broken line. In addition, the linear interpolation and circular interpolation operation sections are indicated by solid lines, each teaching position in the movement command group is indicated by a circle, and the numbers assigned to these teaching positions according to time series correspond. It is displayed near the teaching position. In the illustrated example, p1 to p8 are shown as numbers. In the joint operation section, the track of the tip of the welding torch that actually operates is displayed.

  On the other hand, the display state of the robot and torch in the display mode is as shown in FIG. That is, assuming that the movement command group is graphically displayed as shown in FIG. 8, the display shown in FIG. 9 is performed by instructing the number indicating the teaching position in the display by clicking the input pen 5 or the like. A screen 105 is displayed. On the display screen 105, the surface model of the torch 41 and the robot 40 is displayed superimposed on the display of the movement command group by the solid line and the dotted line. In addition, by displaying a display mode switch as a soft switch at one corner of the display screen 12 and operating it with the input pen 5, it is possible to switch between displaying and hiding the surface model of the robot or torch. .

  In the case of a welding robot, after finishing position teaching, a welding section must be taught as work teaching. The designation of the welding section in the programming pendant 11 will be described.

  As shown in FIG. 8, assuming that a graphical display is performed, the operator designates a welding section with the input pen 5 for this display. For example, assuming that the welding start section is point p3 to point p4 and the welding end section is p5 to p6, the operator uses the input pen 5 to connect the points p3 to p4 and the points p5 to p6. Simply click and specify the welding section. When such designation is performed, a welding start command is added immediately after the operation command to the point p2 to the work program stored as an intermediate code in the memory 15 by the graphical language processing unit 14, and the process to p6 is performed. A welding end command is added immediately after the operation command. At the same time, the graphical language processing unit 14 changes the color of the line between the points p2 to p6 from black (non-welded section) to red (welded section) on the screen display. FIG. 10 shows the robot work program 106 after such an operation is performed on the work program shown in FIG.

  Next, the setting of welding conditions will be described. FIG. 11 shows a display screen 107 for setting welding conditions. This display screen 107 is the same as the display screen 104 shown in FIG. 8, but differs in that a floating window 108 for selecting welding conditions is displayed.

  The operator performs an operation to start setting welding conditions by operating a soft key on the display screen 12. Thereafter, similarly to the setting of the welding section, the construction condition setting section is designated with the input pen 5. As a result, the floating window 108 is displayed. In the floating window 108, the joint shape, plate thickness, base material type, and the like are displayed as icons or characters, so that the operator selects a desired one and clicks it with the input pen 5. The construction conditions can be set. The set content is described as an internal control code (internal code) by the graphical language processing unit 14 immediately after the welding start command in the work program stored in the memory 15. FIG. 12 shows a robot operation program 108 in which the welding conditions are set in this way. In the illustrated example, the overlap is set as the joint shape, and the plate thickness is set to 3.2 mm.

  With the above setting process, the temporary work teaching is completed, but the optimum welding conditions are not set at this stage. Therefore, automatic optimization of the work program is executed.

  When an automatic optimization operation of the work program is instructed by a soft key operation on the display screen 12, the graphical language processing unit 14 reads out a data group as an internal control code in the work program, and the database processing unit 16 reads the data group. 18 is retrieved, a group of work conditions such as welding current, welding voltage, welding speed, welding torch posture, etc. are taken out, and the welding current, welding voltage, welding speed are converted into robot work instructions, respectively, and the appropriate position of the work program Automatically set to A robot work program 109 after such automatic optimization of the work program is shown in FIG.

  Through the above operation, automatic optimization is performed. Although only optimization of welding conditions is described here, in fact, in addition to optimization of welding conditions, as described later, automatic posture change and automatic addition of posture change points, operation limits, and interference avoidance We perform optimization processes such as position optimization, confirmation of operation speed and automatic correction, and re-change of welding conditions.

  When such automatic optimization is completed, next, the setting contents in the automatic optimization are confirmed. In the programming pendant 11 of the present embodiment, the setting content display / editing screen is displayed and the content can be adjusted simply by specifying the welding section line with the input pen 5 on the display screen displayed as a graphical language display. Can also be realized on this screen. FIG. 14 shows a setting content display / edit screen 110. The setting content display / edit screen 110 is the same as the display screen 104 shown in FIG. 8 except that a floating window 111 for displaying the welding condition at the specified line is opened. In the floating window 111, the joint shape is indicated by an icon, the plate thickness is indicated by a numerical value, and the welding current, the welding speed, and the welding speed are indicated by numerical values. Regarding the welding current, the welding speed, and the welding speed, the setting contents can be adjusted by a fine adjustment button 112 arranged beside these display areas. That is, when the fine adjustment button 112 is operated with the input pen 5, the numerical value is increased or decreased, and the numerical value after the increase or decrease is newly set.

  The above description has been related to work teaching with respect to a work program for which position has been taught. However, there may be a case where it is desired to adjust the position and posture already taught. Next, adjustment of the position and orientation will be described.

  When the position / posture data of the movement command is corrected, the programming pendant 11 is shifted to the correction mode by operating the correction mode switch displayed as a soft switch on the display screen 12 with the input pen 5. Then, the position / posture correction target is determined by designating the number display corresponding to the movement command on the display screen 12 with the input pen 5. FIG. 15 shows a position / posture change screen 113. This change screen 113 is the same as the display screen 104 shown in FIG. 8, but differs in that a floating window 114 for changing the position and orientation is opened. This floating window 114 is displayed together with the designation of the position / posture correction target. The floating window 114 is provided with a change switch for performing a graphical three-dimensional display of the current teaching position on the coordinates of the work object or the coordinates from the robot origin and continuously changing the position and posture. Yes. In the illustrated example, it is possible to adjust the target angle and the lead angle of the torch, the vertical and vertical offsets of the welding position, and the extension (wire direction) of the torch, and the respective current values are displayed. In addition, the numerical value can be adjusted by a fine adjustment button 115 arranged beside these display areas. That is, by operating the fine adjustment button 115 corresponding to a desired item with the input pen 5, the numerical value is increased or decreased, and the numerical value after the increase or decrease is set again for the item, and the taught position and orientation are changed. Then, by performing an operation for completion of correction by clicking an execution button displayed in the display window 12, the position / posture of the movement instruction at the designated location in the intermediate code stored in the memory 15 The correction result will be reflected in the data. Here, the position and orientation displayed on the change screen 113 change in conjunction with the operation of the fine adjustment button 115 displayed as a soft button on the display screen 12, and the setting is changed. Can be easily performed.

  The relationship between the operation of the worker and the display screen in the case of the welding robot has been described above for the case of basic work. According to the programming pendant 11 of this embodiment, it is possible to teach work contents other than the types described above. Hereinafter, teachings relating to a timer wait instruction, an input wait instruction, and a conditional branch instruction will be described.

  First, the case of a timer wait instruction will be described. FIG. 16 is a diagram showing a robot work program 116 including a timer wait instruction according to a conventional character-based expression format. This robot work program 116 has a configuration in which a timer wait instruction is added immediately after the ARCON instruction in the robot work program 106 shown in FIG. Correspondingly, a display screen 117 as shown in FIG. 17 is displayed on the display screen 12 as a graphical language screen. The display screen 112 has a configuration in which an icon representing a clock is arranged in the vicinity of the teaching position p2 with respect to the display screen 104 shown in FIG. 8, and a timer wait instruction is present there by the clock icon. It shows that. In addition to the clock icon, how many seconds the timer waits is displayed as a numerical value.

  Hereinafter, a procedure for adding a timer wait instruction as a work instruction will be described.

  When an instruction addition button displayed as a soft button on the display screen 12 is clicked with the input pen 5, the instruction addition mode is entered, and an instruction editing screen 121 as shown in FIG. 18a is displayed. The instruction editing screen 121 is initially configured such that an instruction editing sub-window 122 is arranged on the display screen 104 shown in FIG. In the sub window 122, “add”, “change”, and “delete” soft buttons are arranged, and a desired editing operation can be performed by designating one of these soft buttons with the input pen 5. Can do. Here, since an instruction is to be added, the “add” button is clicked. Then, the number of the position where the instruction is to be added is designated with the input pen 5.

  Then, as shown in FIG. 18 b, a pop-up window type sub-window 123 displaying the command to be added appears on the command editing screen 121. Here, in the sub-window 123, a clock icon for a timer wait instruction, a traffic signal icon for an input wait instruction, and a signpost icon for a conditional branch instruction are displayed. The signpost icon has the shape of a signboard on which a right arrow and a left arrow are displayed. Then, the clock icon is selected with the input pen 5. As a result, as shown in FIG. 18c, a pop-up window format sub-window 124 for time setting appears on the command editing screen 121. This sub-window 124 displays a stop time display area and a fine adjustment button 125. By operating the fine adjustment button 125, a desired numerical value is displayed in the display area. You can set the waiting time.

  Next, the case of an input waiting instruction will be described. FIG. 19 is a diagram showing a robot work program 118 including an input waiting instruction in accordance with a conventional character-based expression format. This robot work program 118 has a configuration in which an input wait command is added immediately after the p1 point operation command in the robot work program 103 shown in FIG. Correspondingly, a display screen 119 as shown in FIG. 20 is displayed on the display screen 12 as a graphical language screen. This display screen 119 has a configuration in which an icon representing a traffic signal is arranged in the vicinity of the teaching position p1 with respect to the display screen 104 shown in FIG. 8, and an input waiting command is present there by the traffic signal icon. It shows that you are doing. In addition, a traffic signal icon is displayed as a character string indicating which peripheral device is waiting for input.

  Next, a procedure for adding an input waiting instruction will be described. As in the case of adding the timer wait instruction described above, a transition is made to the instruction addition mode, the instruction editing screen 121 is displayed, and the number of the position where the instruction is to be added is indicated. In the sub-window 123, a traffic signal icon is selected instead of a clock icon. Then, as shown in FIG. 21, a pop-up window type sub-window 126 for setting a waiting condition appears. In this sub-window 126, the external input name, the waiting logic, and the allowable waiting time (timeout) are displayed using the input pen 5. Set the time.

  Next, the case of a conditional branch instruction will be described. Although not shown here, when there is a conditional branch instruction, the conditional branch instruction is represented by a signpost icon on the display screen as the graphical language screen, as in the case of the timer wait instruction or the input wait instruction. In addition, when adding a conditional branch instruction, as in the case of adding a timer wait instruction, the instruction transition mode is entered, the instruction edit screen is displayed, and the number of the position where the instruction is to be added is indicated. Then, a signpost icon is selected in the sub-window for instruction selection. Then, a sub-window for setting a branch condition appears. Using the input pen 5, an external input name, branch logic, allowable waiting time, and display path designation may be set in this sub-window. Here, the display path designation is designation of which side of the branch is displayed on the graphical language screen.

  The above-described sub window 122 has “change” and “delete” buttons in addition to “add”, and these will be described.

  The “change” button is used to change a work order. When changing the work command, first, the command icon displayed on the screen (for example, the timer command icon on the display screen 117 in FIG. 17) to be changed is designated with the input pen 5 and is to be edited. . Next, the operation mode is changed to the work instruction change mode by operating the “change” button. As a result, a pop-up window is opened on the display screen, and an icon group representing a work command that can be changed is displayed in the pop-up window. Therefore, the changed work order icon is designated with the input pen 5. If there is a parameter associated with the changed work order, a parameter setting window is opened, and the parameter may be set in that window. As a result, the graphical language processing unit 14 converts the changed work instructions and parameters into an internal intermediate code, automatically changes the corresponding instruction in the memory 15, and further changes the graphical language based on the changed contents. Display the screen.

  On the other hand, the “erase” button is used for erasing a work command. When erasing a work instruction, first, an instruction icon displayed on the screen to be erased is designated with the input pen 5 to be edited. Next, the work instruction is erased by operating the “erase” button. By this designation, the graphical language processing unit 14 erases the designated instruction from the work program in the memory 15, and the graphical language screen is updated based on the erased content.

  Further, the programming pendant 11 of the present embodiment is an icon that indicates a call in association with the point of the movement instruction when there is an instruction for calling another work program when the movement instruction group is displayed as a line on the graphical language screen. Is displayed. When this icon is designated with the input pen 5, a pop-up window is opened, and the work program to be called can be displayed and changed. In addition, a switch for displaying whether or not to display the call destination is also displayed. By switching this switch with the input pen 5, it is possible to switch to the display of the work program of the call destination.

  As described above, the programming pendant 11 of the present embodiment has been described mainly from the aspect of the relationship between the operation of the worker and the change of the display screen, but the present embodiment will be described below from the viewpoint of processing by software.

  As described above, the programming pendant 11 is obtained by installing software for realizing simple teaching on a computer as hardware. As the hardware, the same hardware as that of a portable personal computer can be used. By adopting, for example, MS-WINDOWS (registered trademark) of Microsoft Corporation as a basic OS (operating system), development of a programming pendant based on a graphical user interface is facilitated.

  The internal configuration of the programming pendant 11 is as shown in FIG. 6. The programming pendant 11 transmits and receives work programs and other data for the control device 20 and the robot 40 by serial transmission via the cable 6. . When the operator performs a new creation operation of the work program using the programming pendant 11, the framework of the created work program is sent to the control device 10 side via the communication unit 13.

  Hereinafter, the relationship between the teaching work flow for the work object and each software function will be described.

  First, teaching of the movement command will be described. FIG. 22 shows how the work object 8 and the teaching points p1 to p8 in the work program are arranged in the actual space. In the illustrated example, the work object 8 is a rectangular parallelepiped.

  The programming pendant 11 is provided with a robot remote control switch, and the operator operates the robot remote control switch to position commands p1, p2, and p7 in a non-welding section (hereinafter referred to as an air cut section). , P8 are taught as joint operations, and welding section position commands p3, p4, p5, and p6 are taught as linear interpolation operations. By this operation, movement command addition commands are sent from the programming pendant 11 to the control device 20, and the control device 20 sequentially adds these movement commands to the work program. At this time, the operator only needs to teach the welding start point, the inflection point, and the welding end point for the welding section. There is no need to pay particular attention to the posture, and rough teaching may be performed.

  Next, processing in automatic optimization of a work program will be described.

(1) Automatic setting of welding conditions:
When the operator performs an automatic optimization operation of the work program, first, automatic setting of welding conditions is performed. At this time, in the memory 15, as described above, the work program 52 in which the welding conditions are set as the internal control code and the system configuration data 52 set when the initial setting is performed are stored. . System configuration data includes the performance of the robot used in this welding robot system (operable range of each axis, maximum operating speed, etc.), welding machine type and rating, welding wire type and standards, and welding atmosphere. It is a parameter that basically does not change during operation of the robot, such as the type of gas to be used.

  The graphical language processing unit 14 receives the input of the automatic optimization instruction, and among the data stored in the memory 15, the vector group data connecting the data described as the internal control code of the work program 51 and the teaching point. Then, the data of the first work construction condition group is sent to the database processing unit 16 and the search of the welding condition database 18 is requested. FIG. 23 is a diagram showing a data flow at this time. Here, the data of the first work condition group is a joint shape, a plate thickness, a base material, and a vector ground angle between teaching positions. The database processing unit 16 searches the welding database 18 based on the data of the second work construction condition group (welder, wire, gas) and the data of the first work construction condition group in the system configuration data 52. As a search result, a group of work conditions such as a welding current, a welding voltage, a welding speed, and a welding torch attitude are returned to the graphical language processing unit 14. As a result, the graphical language processing unit 14 converts the welding current, the welding voltage, and the welding speed into work instructions for the robot, respectively, and sets them at appropriate positions in the work program 51.

(2) Automatic change of posture and automatic addition of posture change points:
Following the automatic setting of welding conditions, automatic addition of posture change points and automatic posture change are performed. As described in the background art section, teaching an optimal posture to the robot requires skill. In view of this, the programming pendant of this embodiment is provided with a position / orientation generation unit 17 that calculates the torch position and orientation based on given conditions so that the attitude can be automatically changed and the attitude change point can be automatically added. The process of automatically changing the posture and automatically adding the posture change point is started when the graphical language processing unit 14 sends the movement command and the welding torch posture data to be specified to the position and posture generation unit 17. The position and orientation generation unit 17 that has received such data performs generation processing as follows. Here, the posture change point is an auxiliary position that is arranged to connect the posture smoothly while maintaining an appropriate posture with respect to the work object as much as possible. One by one is required.

  First, the posture at points p3 to p7 that are teaching points included in the welding section is changed to a specified torch posture. Then, the posture change point p4pre is added in the same posture as the point p3 in the vicinity of the point p4 on the line from p3 to p4. Here, the pre point means a pre-teaching position, and is a teaching point provided in front of an existing teaching point in order to smooth the change in the posture of the robot. Subsequently, a posture change point p5pre is added in the same posture as the point p4 in the vicinity of the point p5 on the line p4 to p5. Similarly, the posture change point p6pre is added in the same posture as the point p5 in the vicinity of the point p6 on the line from p5 to p6.

  Next, the posture change point p4post is added in the vicinity of the point p4 on the line p4 to p5 with the same posture as the point p4. Here, the post point means a post-teaching position, and is a teaching point provided after an existing teaching point in order to smooth the change in the posture of the robot. Also, a posture change point p5post is added in the vicinity of the point p5 on the line at p5 to p6 with the same posture as the point p5.

  Next, the postures at the points p4 and p5 are changed by the following procedure. Since the same algorithm is applied to both of these points p4 and p5, the point pN will be generalized and described here.

  Vectors pNpre to pN are vector v1, vectors pN to pNpost are vector v2, and vector v3 is a unit vector of the outer product of v1 and v2.

v3 = v1 × v2
Let α be the angle obtained by subtracting the angle between v1 and v2 from 180 degrees.

α = π−∠v1v2
A 3 × 3 matrix representing an attitude at pNpre is denoted by O, and a matrix representing an attitude obtained by rotating matrix O by α / 2 around v3 is denoted by O ′. Then, the posture at the point pN is replaced with O ′. As described above, automatic change of posture and automatic addition of posture change points are performed.

(3) Position optimization by operation limit and interference avoidance:
Following the automatic change of posture and automatic addition of posture change points, the position is optimized by operation limit and interference avoidance. In this embodiment, it is assumed that the operation limit and interference avoidance are performed using redundancy in the approach direction of the torch.

  First, a position / orientation data group is created by rotating 5 degrees in the range of ± 90 degrees around the approach direction of each point in the welding section in the work program. Then, the respective position / orientation data is converted from the orthogonal space coordinates to the joint coordinates, and the data relating to the interference between the welding cable and the main body and the data regarding the operation limit of the main body are excluded. Next, one piece of position / orientation data is selected for each point so that the change of each axis is minimized when actually operated at each position. Then, optimization is performed by replacing the position of each point with the position and orientation data group thus selected.

(4) Confirmation of operation speed and automatic correction:
When the position is optimized by the operation limit and interference avoidance, the operation speed is confirmed and the automatic correction is performed.

  The operation program created at the speed derived from the database search is simulated, and it is checked whether the movement speed of each axis exceeds the maximum allowable movement speed. If there is a position where the operating speed exceeds the maximum allowable operating speed, set only the ratio of the simulation maximum speed and the maximum allowable speed of the axis exceeding the maximum speed when operating to that point at the specified speed. Reduce speed. When executing this motion simulation, the surface model of the robot shown in FIG. 9 is displayed as if it is an animation, so that the operator can intuitively understand the motion speed of each axis.

(5) Re-change of welding conditions:
When the set speed is changed due to the confirmation and automatic correction of the operation speed, the welding conditions are changed again in response to the change.

  When the graphical language processing unit 14 receives a notification from the position / orientation generation unit 17 that the setting speed has been reduced, the graphical processing unit 14 adds the changed speed to the first work condition group for database search, Perform a search. Then, the set work command parameters are replaced with the welding current, welding voltage, and welding speed obtained by the re-search.

  As described above, a series of automatic optimization processes are performed.

  In the present embodiment, a series of work programs are completed by executing the above-described processes. In general, a plurality of such work programs are created according to the type of workpiece. Conventionally, such a work program has been stored in the control device with a file name, that is, a character name, but the operator himself or herself has forgotten what the name was given, and the work program Often, it was not possible to pull out the instantly. Therefore, in this embodiment, the operator creates a symbol (icon) consisting of a picture or a character by a pen touch operation on the programming pendant 11, and stores the icon and the work program name in association with each other. This association is stored in the memory 15 in the programming pendant 11.

  FIG. 24 shows a program selection screen 130 displaying six work programs as symbols corresponding thereto. The program selection screen 130 is displayed on the display screen 12 of the programming pendant 11, and a desired work program can be selected by selecting a desired icon displayed here with the input pen 5. . In the illustrated example, the symbol is a rectangular frame in which drawing has been performed, and “test-1”, “test-2”, “work-1”, “work-2”, “work-3”, and so on as work programs. “Work-4” is associated with a symbol arranged above the work program name.

  In this way, since the picture drawn by the operator and the handwriting of the operator are displayed, it is very easy to identify the contents of the work program. Note that image information captured by the camera may be displayed as symbols instead of the operator's handwriting input.

Third Embodiment Next, a third embodiment of the present invention will be described. In the second embodiment described above, the work object is not displayed on the graphical language screen, but here, the work object is displayed on the graphical language screen, and further, the tilt angle and the rotation angle are displayed on the work object. Easy teaching even when there is.

  This embodiment is directed to the same welding robot system as the second embodiment described above, and uses the same programming pendant 11 as used in the second embodiment. However, the graphical language processing unit 14 calculates an angle (hereinafter referred to as an inclination angle) between a straight line passing through the two teaching positions of the work object and the ground from two consecutive teaching positions in the movement command, The calculation result is automatically registered as an element of the first work execution condition group, and the work target is obtained from the two consecutive teaching positions in the movement command and the three-dimensional data of the reference points stored in the memory 15. Using the straight line passing through the two teaching positions of the object as an axis, the angle at which the work object rotates around the axis (hereinafter referred to as the rotation angle) is calculated, and the calculation result is used as an element of the first work construction condition group. It can be automatically registered as. Furthermore, the graphical language processing unit 14 automatically sets the shape dimension of the work object from the data of the first work construction condition group, and the work object together with the trajectory on the robot tool (welding torch in this embodiment). Can be displayed as a graphical language screen as a wireframe, surface model, or shading model.

  In addition, as described above, a number based on a time series is assigned to each teaching point in the movement command, but in this embodiment, by specifying a section specified by this number, a graphical language screen is displayed. A display screen for only that section can be displayed.

  FIG. 25 is a diagram illustrating an example of the arrangement of work objects and teaching points in an actual space in the present embodiment. Here, the work object 8 is arranged with a rotation angle and an inclination angle. Hereinafter, a case where teaching for a welding robot is performed on such a work object 8 will be described.

  As in the case of the second embodiment, by operating the robot remote control switch attached to the programming pendant 11, the position commands p1, p2, p7, and p8 of the air cut section are taught as joint operations, and the welding section Position commands p3, p4, p5 and p6 are taught as linear interpolation operations. By this operation, movement command addition commands are sent from the programming pendant 11 to the control device 20, and the control device 20 sequentially adds these movement commands to the work program. At this time, only the welding start point, the inflection point, and the welding end point need be taught for the welding section. The content of the work program according to this teaching is the same as that shown in FIG.

  The contents taught in this way are displayed on the display screen 12 as a three-dimensional locus viewed from an arbitrary viewpoint by the graphical language processing unit 14. At this time, the joint operation section is displayed with a broken line, and the linear interpolation operation section and the circular interpolation operation section are displayed with a solid line. FIG. 26 shows a display screen 141 displayed as a graphical language screen on the display screen 12 at this time. Here, the surface model of the work object is also displayed along with the teaching points and the line segments connecting the teaching points.

  Next, an operator designates a welding section with respect to the display displayed graphically as shown in FIG. The method of designating the welding section and the change in display after designation are the same as in the case of the second embodiment described above. The state of the robot work program after this operation is the same as that shown in FIG.

  Next, the worker sets welding conditions. The setting section is designated by the input pen 5, and the welding conditions in each section are also set in the same manner as in the second embodiment, the joint shape, thickness, This is done by selecting the type of base material. The set contents are automatically processed as work shape dimensions by the graphical language processing unit 14, and the work object model adapted to the joint shape in the set section is converted into a surface model in the same manner as shown in FIG. It is displayed on the display screen 12. Further, the set content is described as an internal control code by the graphical language processing unit 14 immediately after the welding start command in the work program. The set robot operation program is the same as that shown in FIG.

  Subsequently, an automatic optimization process of the work program is executed. Here, similarly to the second embodiment, the welding conditions are automatically set according to the first work construction condition group and the second work construction condition group. However, the joint shape, plate thickness, base material, inclination angle and rotation angle between teaching positions are used as the first work execution condition group.

  Next, designation of the display range in this embodiment will be described. In this programming pendant, when a display screen as a graphical language screen is displayed on the display screen 12, a display range designation screen is displayed on the screen by double-clicking the input pen 5, and this display range is displayed. The display start point and display end point can be specified on the designation screen. The designated teaching point number input as the display start point and the display end point is sent to the graphical language processing unit 14, whereby the graphical language processing unit 14 displays the teaching information within the range of the designated teaching point number. Display on the screen. FIG. 27 shows a display range designation screen 142, in which a sub-window 143 for inputting a display start point and a display end point is opened. In the illustrated example, since p3 is designated as the display start point and p6 is designated as the display end point, only the section from the point p3 to the point p6 is displayed. An enlarged display may be performed as necessary.

  In this way, when a range is specified by specifying the time-series number of the movement command described in the work program, the movement command section corresponding to the range is displayed in detail. As a result, the work program can be confirmed, and the confirmation work can be performed more safely than the case where the confirmation work is performed with the face directly approaching the work object. Further, in this embodiment, the inclination angle and the rotation angle of the work object are automatically calculated and registered in the work construction condition, and the work condition suitable for the work object is selected according to the registration. The work program can be created in a short time regardless of the complexity of the shape of the object.

Fourth Embodiment Next, a fourth embodiment of the present invention will be described. In the second embodiment described above, the tool trajectory is displayed on the graphical language screen by simply connecting the teaching points with line segments. In the present embodiment, the trajectory is displayed based on the specified interpolation method. Is possible. Further, when an inappropriate interpolation instruction is given, a warning to that effect is made and a teaching point can be automatically added. Furthermore, the entire robot image and tool posture at each teaching position can be displayed graphically.

  This embodiment is directed to the same welding robot system as the second embodiment described above, and uses the same programming pendant 11 as used in the second embodiment. However, the graphical language processing unit 14 decodes the work program stored as an intermediate code in the memory 15, and determines the orthogonal space position of the movement command group stored in time series as a straight line or a curve according to the interpolation type of the movement command. The line group can be converted into coordinates on the display screen 12 viewed from an arbitrary viewpoint, and the converted line group can be displayed on the display screen 12, and all the postures of the tool at each teaching position can be displayed. The robot can be displayed as a whole image at the teaching position of each movement command using a wire frame, a surface model, or a shading model. When a gap between work objects is input, the graphical language processing unit 14 performs a graphical language display with a double line whose interval changes corresponding to the gap.

  Further, the graphical language processing unit 14 has a function of displaying a warning on the display screen 12 and automatically adding a teaching point when the interpolation type of the movement command in the intermediate code is inappropriate. . Specifically, when a line is displayed on the graphical language screen, the number of teaching points required when the interpolation type of the movement command expressed in the intermediate code is an arc motion and the teaching performs the arc motion ( If the number is less than (minimum 3 points), the line type on the display screen 12 is changed to a wavy line or the like to indicate that the robot cannot perform an arc motion in that section. At this time, if the time series teaching point of circular interpolation is one point, linear interpolation is automatically performed when the work program is created. Also, if there are two teaching points in time series for circular interpolation, and there are teaching points other than circular interpolation next to the second circular interpolation teaching point, the circular interpolation teaching is performed when creating the work program. A circular interpolation teaching point is automatically added next to the second circular interpolation teaching point by the position and orientation of the teaching point other than the point.

  Hereinafter, with respect to the work program in which the movement command has already been taught with respect to the teaching work in the present embodiment, a case where reference and editing work is performed using the programming pendant 11 in the present embodiment to complete the welding work program will be exemplified. This will be described based on the relationship between the operator's operation and the display content change. Here, it is assumed that the work program 151 shown in FIG. 28 has already been taught. This work program 151 is different from the work program 103 shown in FIG. 7 in that operation commands for three consecutive teaching points p4, p5, and p6 are designated by circular interpolation operation.

  The movement command group thus taught is displayed on the display screen 12 as a three-dimensional locus viewed from an arbitrary viewpoint by the graphical language processing unit 14. At this time, the joint operation section is displayed with a broken line, and the linear interpolation operation section and the circular interpolation operation section are displayed with a solid line. FIG. 29 shows a display screen 151 displayed as a graphical language screen on the display screen 12 at this time. Since the interpolation method for the points p4, p5, and p6 is circular interpolation, the section from the point p4 to the point p6 is displayed as an arc as shown in the figure. In addition, a time series number of the movement command group is displayed near the teaching position. At this time, the joint operation section displays the trajectory of the tip of the torch that actually operates.

  In the present embodiment, as in the second embodiment, the surface model of the torch and the robot is displayed only by pointing the number portion displayed for the teaching position with the input pen 5. In addition, display / non-display of these surface models can be switched by a display mode switch which is a soft switch on the display screen 12. FIG. 30 shows a display screen 153 in a mode for displaying a robot and a torch. Further, when another display mode is selected by the display mode switch, all the torch postures at the respective teaching positions are displayed on the display screen 12. This can also be switched between display and non-display by a display mode switch. FIG. 31 shows a display screen 154 in a mode that displays all the torch postures at each teaching position.

  In the work program shown in FIG. 28, if the teaching point p5 is circular interpolation, and one of the points p4 and p6 is circular interpolation and the other is linear interpolation, three consecutive teaching points are circular interpolation. The condition that it exists is not satisfied, and the robot cannot perform the arc motion. In such a case, a display screen 155 is displayed as a graphical display screen in which a section in which the arc operation cannot be performed is indicated by a wavy line. FIG. 32 shows the display screen 155 at this time.

  In this case, since the two arc interpolation teaching points are continuous, the arc interpolation teaching points can be automatically added according to the above-described principle of automatic addition of teaching points in accordance with an instruction from the operator.

  Furthermore, in the present embodiment, a screen for inputting the gap amount between the base materials can be displayed by pointing the input pen 5 between two adjacent teaching points, for example, a line connecting the teaching point p4 and the teaching point p5. it can. FIG. 33 shows a display screen 156 for setting the gap amount, and a floating window 157 for inputting the gap amount is opened on the display screen 156. By inputting the gap amount to the floating window 157, the previously specified line, for example, the line connecting the teaching points p4 and p5 becomes a double line, and the distance between the double lines is linked to the input gap amount. Appears to change.

  In this way, the gap amount can be set and displayed graphically, so that the derived work conditions can be confirmed on the screen, and the location where the gap amount is set can be easily confirmed. Therefore, confirmation and correction of the created robot work program can be performed in a short time.

  Also, in this embodiment, display is appropriately performed according to the type of interpolation operation, and when there are no three arc interpolation teaching points when the interpolation type of the movement command is circular operation, Since it is graphically displayed on the screen that three or more sequential teaching points are required, the selection error of the work condition by the operator is extremely reduced, and the creation of an appropriate work program is supported. Specifically, when the interpolation type is circular motion and the time series teaching point of circular interpolation is one point, the teaching point automatically becomes a linear interpolation movement command when creating a work program. Can no longer work. In addition, when the interpolation type of the movement command is circular motion and there are two time-series teaching points for circular interpolation, the third circular interpolation point is automatically added when creating a work program. The robot can no longer work.

Fifth Embodiment In the second embodiment, in the process of automatically creating a work program, automatic change of posture and automatic addition of posture change points are performed as automatic optimization of the work program. When a posture change point is automatically added as a movement command, if it is simply added to the work program, the movement command taught in the first place is deleted or the position based on the movement command is changed to automatically create a work program. When the operation is performed again, the movement command automatically added in relation to the movement command that has been deleted or changed (that is, the movement command for the posture change point) cannot be identified. And there is a risk of inconsistency between the movement command by automatic addition. Therefore, in the present embodiment, information indicating correspondence is added to the movement command by automatic addition when it is added to the work program so that no contradiction occurs.

  Specifically, when automatically adding a posture change point, information associated with movement information taught in advance is stored in association with a movement command for the posture change point to be added. In addition, when deleting a movement instruction based on a previously performed teaching for a work program automatically created in this way, when the program is automatically created again, it is deleted based on the information already stored. The movement command which is the posture change point automatically added in relation to the movement command to be identified is identified, and this movement command is also deleted. Similarly, when moving the position of a movement command based on a previously taught instruction, when the program is automatically created again, it is automatically added in relation to the movement command to be deleted based on the information already stored. The movement command which is the posture change point is identified and deleted, and then an appropriate posture change position is obtained and automatically re-updated.

  Hereinafter, this embodiment will be described based on specific examples. Here, the same welding robot system as in the second embodiment is assumed, and the same programming pendant 11 as in the second embodiment is used. In summary, the automatic optimization in the second embodiment derives an appropriate work posture from the welding condition database 18, corrects the position information of the movement command group according to the posture, and is relative to the work object. This is a process for making the posture as close as possible to the posture retrieved from the welding condition database. For this reason, in automatic optimization, posture change points are automatically added before and after the teaching points.

  Therefore, in the present embodiment, the pseudo instruction “′ pre” is added before the movement command by the automatic addition for the posture change point added before the teaching point, that is, the above-described pre point. Similarly, for the posture change point to be added after the teaching point, that is, the above-described post point, a pseudo instruction “′ post” is added before the movement instruction by automatic addition. These pseudo-instructions “′ pre” and “′ post” apply the comment instruction “′” and are information associated with the originally existing movement instruction. Note that the comment command “′” indicates that the character string following this command is a comment, and is a command that is not interpreted by the robot controller. An instruction that has no effect. However, in the present embodiment, the graphical language processing unit 14 uses the character string that follows the comment command when making a determination during processing. The pseudo-instructions “′ pre” and “′ post” are regarded as valid only for the immediately following instruction.

  FIG. 34 shows an example of a work program before automatic addition of posture change points. FIG. 35 shows a work program 162 that automatically adds posture change points to the work program 161 shown in FIG. 34 and is accompanied by the pseudo instructions “'pre” and “' post” as described above. Has been. In FIG. 35, the description after the semicolon “;” is a comment for the program list, and the display from step 1 to step 15 is added to the program list to indicate a specific command in the program. It is what has been.

  Next, a process when the automatic generation of the work program is performed again after the taught position is deleted from the already generated work program will be described with reference to the flowchart of FIG. First, in step 171, the graphical language processing unit 14 identifies whether or not there is a movement command sandwiched between the movement commands indicated by the pseudo instructions “′ pre” and “′ post”. If present, the process proceeds to step 173 as it is. If not, in step 172, the pseudo instructions “'pre” and “' post” and the pseudo instructions “'pre” and “' post” are supported. The move command is deleted, and the process proceeds to step 173. In step 173, normal automatic generation processing of the work program as described in the second embodiment is executed.

  On the other hand, when the automatic generation of the work program is performed again after the taught position change is performed on the work program that has already been automatically generated, the graphical language processing unit 14 causes the pseudo-instruction “′”. A movement command not accompanied by “pre” and “'post” is regarded as a movement command taught in advance, and all posture change points are calculated again.

  According to the present embodiment, since the movement command of the posture change point added by the automatic generation process can be identified, the automatic creation is executed again after the editing operation such as the deletion or the position change of the movement command taught in advance. The movement command of the registered posture change point is automatically edited appropriately.

It is a schematic plan view which shows the conventional program display apparatus. It is a schematic plan view which shows the programming pendant in the 1st embodiment of this invention. It is a figure which shows the example of the display screen displayed as a welding operation area identification figure in a 1st embodiment. It is a figure which shows another example of the display screen displayed as a welding operation area identification figure in a 1st embodiment. It is a block diagram which shows the structure of the welding robot system in a 2nd embodiment. It is a schematic perspective view of the programming pendant used in the 2nd embodiment. It is a block diagram which shows the internal structure of the programming pendant shown in FIG. It is a figure explaining an example of the robot work program in which the movement command was taught. It is a figure explaining the display screen when the movement command group is displayed graphically corresponding to the work program shown in FIG. It is a figure explaining an example of the display screen in the mode which displays a robot and a torch. In a 2nd embodiment, it is a figure explaining an example of the robot work program after setting a welding section. It is a figure explaining an example of the display screen for the setting of the welding construction condition in a 2nd embodiment. In a 2nd embodiment, it is a figure explaining an example of the robot work program after setting welding construction conditions. In a 2nd embodiment, it is a figure explaining an example of the robot operation | work program after automatic setting of the welding conditions was performed. It is a figure explaining an example of the setting content display and edit screen in a 2nd embodiment. It is a figure explaining an example of the position and attitude | position change screen in a 2nd embodiment. It is a figure explaining an example of the robot work program containing the timer waiting command. It is a figure explaining an example of the display screen which displayed the timer waiting instruction as an icon. It is a figure explaining an example of an instruction edit screen. It is a figure explaining the place which has designated the position which wants to add a command. It is a figure explaining an example of the screen which sets the waiting time of a timer. It is a figure explaining an example of the robot work program containing the input waiting command. It is a figure explaining an example of the display screen which displayed the input waiting command as an icon. It is a figure explaining an example of the screen which sets input waiting conditions. It is a figure explaining an example of arrangement | positioning of the work target object and teaching point in an actual space. It is a figure explaining the flow of data in the automatic optimization of a work program. It is a figure explaining an example of the work program selection screen which displayed the work program by the symbol corresponding to it. It is a figure explaining an example of arrangement | positioning of the work target object and teaching point in the actual space in a 3rd embodiment. It is a figure explaining the display screen when the movement command group is displayed graphically in the 3rd embodiment. It is a figure explaining the display screen when designating a section and displaying a movement command group graphically. It is a figure explaining an example of the robot work program in which the movement command was taught in the 4th embodiment. It is a figure explaining the display screen when the movement command group is displayed graphically corresponding to the work program shown in FIG. In a 4th embodiment, it is a figure explaining an example of the display screen in the mode which displays a robot and a torch. In a 4th embodiment, it is a figure explaining an example of the display screen in the mode which displays all the attitude | positions of the torch in each teaching position. It is a figure explaining an example of the display screen when circular interpolation cannot be performed. It is a figure explaining an example of the screen which sets the amount of gaps. It is a figure explaining an example of the robot work program in which the movement command was taught in the 5th embodiment. It is a figure explaining an example of the work program obtained by teaching with respect to the robot work program shown in FIG. 34, and performing automatic generation. In a 5th embodiment, after deleting a position, it is a flowchart which shows the procedure in the case of performing automatic generation again.

Explanation of symbols

1, 12, 91 Display screen 2 Selection button 3 Welding speed button 4, 94 Input key 5 Input pen 5a Holder 6, 96 Cable 8 Work object 10, 11, 90 Programming pendant 13 Communication unit 14 Graphical language processing unit 15 Memory 16 Database processing unit 17 Position and orientation generation unit 18 Welding condition database 20 Control device 21 Robot control line 30 Welding machine 31 Welding power line 32 Welding machine control line 40 Robot 41 Welding torch

Claims (13)

In a programming pendant used for teaching an industrial robot having at least three degrees of freedom,
A display means capable of displaying graphically and specifying a position in the display screen by a pointing means;
Storage means for storing a work program in which target position data of the robot is described by a movement command;
A database that stores work-related conditions;
Graphical three-dimensional display of the taught trajectory is performed by the display means, and when the straight line or curve connecting any two movement commands in the displayed trajectory is designated by the pointing means, An icon group representing a condition is displayed on the display means, a first work execution condition group determined based on the position and icon designated by the pointing means, and a second system preset for the system including the robot. Based on the work execution condition group, the database is searched to retrieve an appropriate work condition group, and the retrieved work condition group is converted into a work command for the robot and automatically set to the designated position of the work program. A programming pendant comprising: language processing means incorporated into the programming pendant.   2. The programming pendant according to claim 1, wherein the language processing unit changes posture information of a taught movement command in accordance with data designating a posture of a pot in the group of work conditions extracted from the database.   The language processing means changes the posture information of the taught movement command according to the data designating the posture of the robot in the work condition group extracted from the database, and changes the relative posture of the work target and the work tool. The programming pendant according to claim 1, wherein posture change points are automatically added before and after the taught movement command so as to keep the posture indicated by the database as much as possible. In programming pendants used for teaching industrial robots,
A display means capable of displaying graphically and specifying a position in the display screen by a pointing means;
Storage means for storing a work program in which target position data of the robot is described by a movement command;
A symbol representing the work program is displayed on the display means, a correspondence relationship between the symbol and the work program is stored in the storage means, and when any symbol is designated by the pointing means, a corresponding work program is displayed. A programming pendant comprising language processing means to be processed.   The programming pendant according to claim 4, wherein the symbol is input by handwriting on the screen of the display means using the pointing means.   The language processing means superimposes and displays a time series number of the movement command described in the work program on the display means, and the time series number range is designated by the pointing means. 2. The programming pendant according to claim 1, wherein only the trajectory of the corresponding movement command section is displayed on the display means.   The language processing means calculates an angle formed by a straight line passing through the two teaching positions of the work object and the ground from two consecutive teaching positions of the movement command, and registers it as an element of the first work construction condition group The programming pendant according to claim 1.   The position data of the robot is described in the work program as a reference point that is three-dimensional data, and the language processing means displays the three-dimensional data of the reference point stored in the storage means on the display means. Item 5. A programming pendant according to item 1.   The language processing means uses two continuous teaching positions of the movement command and the three-dimensional data of the reference point stored in the storage means as axes about a straight line passing through the two teaching positions of the work object. The programming pendant according to claim 1, wherein an angle of rotation of the work object about the axis is calculated and registered as an element of the first work construction condition group.   The language processing means automatically sets a shape dimension of a work object based on the first work construction condition group and the second work construction condition group, and the movement command is set from the set shape dimension. The programming pendant according to claim 1, wherein a shape of the work object is displayed on the display means in a three-dimensional display between two consecutive teaching positions.   The language processing means, when automatically adding the posture change point, stores in the storage means information associated with a movement command taught in advance in association with the movement command of the posture change point to be added. Item 4. The programming pendant according to item 3.   When deleting a movement command taught in advance, after the movement command is deleted, the language processing unit searches the storage unit, and the posture change point with the information associated with the deleted movement command is attached. The programming pendant according to claim 11, wherein the movement command is also deleted.   When changing the position to a movement command taught in advance, after changing the position of the movement command, the language processing unit searches the storage unit and information associated with the changed movement command is obtained. The programming pendant according to claim 11, wherein the position information is corrected to an appropriate position in an accompanying posture change point movement command.

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