JP2011059801A - Program creation/instruction device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a program creation/instruction device allowing an instruction of position data in a short time even if a program is a robot program having a complicated flow. <P>SOLUTION: This program creation/instruction device includes: a process (step S11) of analyzing the created robot program, and extracting a position variable used thereinside; a process (step S12) of selecting the position variable necessary to be instructed with a value as an instruction target variable from the extracted position variables; a process (step S13) of arranging the instruction target variables with a graph structure corresponding to order wherein an instruction using the instruction target variable is executed; and a process (step S14) of sequentially displaying the instruction target variables according to the arrangement in the graph structure when receiving the instruction of the instruction target variable. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a program creation / teaching apparatus and method for creating and teaching a robot program.

  In order to operate the robot, it is necessary to create a robot program using the robot language and to perform teaching work for storing the position where the work is performed in the position data in the robot program.

  In a conventional teaching method to a robot, a robot program is displayed on a display device line by line and presented to a teaching worker, and the teaching worker operates the position teaching device while referring to the displayed information, and position data is displayed. (For example, refer to Patent Document 1).

  In order to simplify the teaching work, the teaching position is calculated from the feature quantity of the workpiece, which is the object handled by the robot, and the preset teaching rule, and based on the geometric information such as the movement trajectory of the robot. After rearranging the teaching points, the operator is taught (see, for example, Patent Document 2).

JP-A-2-257711 JP-A-10-222219

  However, the teaching method disclosed in Patent Document 1 displays all the lines of the robot program one line at a time, and the teaching operator himself determines whether the position data that needs teaching is included in the lines. However, since the teaching work is performed, there is a problem that the teaching work takes a very long time.

  Further, the teaching method disclosed in Patent Document 2 can reduce the time required for teaching work because teaching can be performed in the order of arrangement when the movement trajectories are connected relatively continuously like a painting robot. However, when work positions are arranged in a distant manner as in an assembly robot, sorting by only shape features such as geometric information cannot be used to teach position data efficiently, and the teaching work takes time. There was a problem.

  The present invention has been made in view of the above, and an object of the present invention is to provide a program creation / teaching apparatus and method capable of teaching position data in a short time even for a robot program having a complicated flow. To do.

  In order to solve the above-described problems and achieve the object, the present invention analyzes a created robot program, extracts a position variable used in the robot program, and extracts a value from the extracted position variables. A position variable that needs to be taught as a teaching target variable, and a teaching target variable in a graph structure corresponding to the order in which instructions using the teaching target variable are executed based on the processing flow of the robot program It is characterized by comprising means for arranging and means for sequentially displaying the teaching target variables according to the arrangement in the graph structure when teaching of the teaching target variables is accepted.

  The present invention eliminates the need for a teaching operator to view a teaching-free line of a robot program, and also has a remarkable effect that the teaching can be performed in a short time.

FIG. 1 is a diagram illustrating a configuration of a program creation / teaching apparatus according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating a flow of a teaching procedure performed by the program creation / teaching apparatus according to the first embodiment. FIG. 3 is a diagram showing a graph structure of position variables according to the first embodiment. FIG. 4 is a diagram illustrating an example of a screen during teaching of the program creation / teaching apparatus according to the first embodiment. FIG. 5 is a diagram showing the configuration of the program creation / teaching apparatus according to the second embodiment of the present invention. FIG. 6 is a diagram showing the configuration of the program creation / teaching apparatus according to the third embodiment of the present invention. FIG. 7 is a diagram illustrating a flow of a teaching procedure by the program creation / teaching apparatus according to the third embodiment. FIG. 8 is a diagram showing an example of a screen at the time of teaching of the program creation / teaching apparatus according to the fourth embodiment of the present invention.

  Embodiments of a program creation / teaching apparatus and method according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to these embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a program creation / teaching apparatus according to a first embodiment of the present invention. The robot 1 includes a hand 11 for gripping parts and the like, and operates according to a robot program executed by the robot control device 2. The robot control apparatus 2 includes a data communication unit 21, a program execution unit 22, a robot control unit 23, and a program / data storage unit 24. The data communication unit 21 communicates with the program creation / teaching device 3. The program execution unit 22 executes a robot program. The robot control unit 23 controls and operates the robot. The program / data storage unit 24 stores a program for operating the robot 1 and position data. The program creation / teaching device 3 includes a program creation / teaching unit 31, a data communication unit 32, and a display unit 33. The program creation / teaching unit 31 creates a robot program and teaches position data. The data communication unit 32 communicates with the robot control device 2. The display unit 33 displays programs and data.

  An operator creates and saves a robot program using the program creation / teaching device 3.

Here, processing in the present embodiment will be described for the following robot program.
1 DEF POSE A01, A02, A03, A04, A05
2 DEF JOINT B01
3 DEF INT C01
4 INPUT # 1, C01
5 INPUT # 1, A01
6 P11 = (0,0,100,0,0,0)
7 P01 = A01 + P11 '@c: "", "", "Part gripping saving amount"
8 MOVE B01 '@c: "Work standby position"
9 MOVE P01 '@c: "Parts saving position"
10 MOVE A01 '@c: "Part grip position"
11 OUTPUT # 2,1
12 MOVE P01 '@c: "Parts saving position"
13 IF C01 = 1 THEN GOTO 16
14 IF C01> = 2 THEN GOTO 21
15 GOTO 36
16 MOVE P02 '@c: "Escape position 1"
17 MOVE A02 '@c: "Assembling position 1"
18 OUTPUT # 2,0
19 MOVE P02 '@c: "Escape position 1"
20 GOTO 40
21 MOVE P03 '@c: "Escape position 2"
22 MOVE A03 '@c: "Assembly position 2"
23 OUTPUT # 2,0
24 MOVE P03 '@c: "Escape position 2"
25 IF C01 = 3 THEN GOTO 26 ELSE GOTO 40
26 MOVE B01 '@c: "Work standby position"
27 MOVE P01 '@c: "Parts saving position"
28 MOVE A01 '@c: "Part grip position"
29 OUTPUT # 2,1
30 MOVE P01 '@c: "Parts saving position"
31 MOVE P04 '@c: "Escape position 3"
32 MOVE A04 '@c: "Assembly position 3"
33 OUTPUT # 2,1
34 MOVE A04 '@c: "Assembly position 3"
35 GOTO 40
36 MOVE B01 '@c: "Work standby position"
37 MOVE A05 '@c: "Discard position"
38 OUTPUT # 2,1
39 GOTO 40
40 MOVE J01 '@c: "Stand-by position for next process"

  First, variables used in the robot program will be described. The number at the beginning of each line represents the line number. DEF is a variable declaration for variable type definition.

  The DEF POSE on the first line defines an orthogonal position variable. Here, A01, A02, A03, A04, and A05 are orthogonal position variables. An orthogonal position variable is data represented in an orthogonal coordinate system and is expressed in the form of (X, Y, Z, A, B, C). Here, (X, Y, Z) represents a position in a three-dimensional orthogonal coordinate system, and (A, B, C) represents a three-dimensional posture.

  DEF JOINT on the second line defines a joint type position variable. Here, it represents that the variable B01 is a joint type position variable. The joint-type position variable is data having an angle of each joint of the robot as an element, and is expressed as (J1, J2, J3, J4, J5, J6) in the vertical articulated robot. Here, Ji (i = 1, 2,..., 6) represents the joint angle of the robot.

  DEF INT on the third line defines an integer variable. Here, the variable C01 is an integer variable. An integer variable is data that stores an integer value.

  In this robot language, as an implicit type declaration, a variable starting with P is defined as an orthogonal position variable, and a variable starting with J is defined as a joint position variable. In the robot program, variables P01 and P11 are orthogonal position variables, and J01 is a joint position variable.

  Next, instructions will be described. INPUT is a command that reads a value from the outside by communication or the like and sets the value to a variable. For example, in “INPUT # 1, C01” on the fourth line, an integer value is read from the external communication port # 1, and the read value is set to C01. OUTPUT is a command for sending a value to the outside through communication or the like. For example, in “OUTPUT # 2, 1” on the 11th line, an integer value 1 is sent to the external communication port # 2. MOVE is a command for operating the robot 1 and moves the robot 1 to the position written after MOVE. For example, in “MOVE P01” on the ninth line, the robot 1 moves to take the position and posture indicated by P01. GOTO is an instruction to jump to the line of the number written after that. For example, in “GOTO 36” on the 15th line, the process on the 36th line is executed as the next process. IF is a branch instruction that evaluates an expression and determines the subsequent operation based on the condition determination. For example, “IF C01 = 1 THEN GOTO 16” on the 13th line jumps to the 16th line when C01 is equal to the integer value 1.

  In each line, the part after '(apostrophe) represents a comment and does not affect the program execution. The character string enclosed in “” after “@c:” in the comment is displayed together with the variable name when the variable is displayed during teaching, which will be described later. Therefore, by describing the explanation of each variable after “@c:”, the position to be taught at the time of teaching becomes clear and the time required for teaching work can be shortened. Here, when there are a plurality of variables in the line, the description is described in the order in which the variables are written in the robot program. For example, in the seventh line, the portion corresponding to the description of P01 and A01 is “”, and there is no description because there is no character string, and the description of P11 is “part gripping saving amount”.

  Next, the flow of the robot program will be described. The robot program is for assembling parts in the assembly process. First, the program execution unit 22 executes the fourth line of the robot program, reads the type of the product being assembled into the integer variable C01, and stores it in the program / data storage unit 24. Here, the product type is one of 1, 2, and 3. Next, the program execution unit 22 executes the fifth line of the robot program, reads the component position into the position variable A01, and stores it in the program / data storage unit 24. Subsequently, the program execution unit 22 executes the 6th to 12th lines of the robot program, and causes the robot 1 to take out the parts from the parts storage area. Here, P11 is a component gripping saving amount, which represents the movement amount from the gripping position of the component to the saving position after gripping the component. Specifically, the program execution unit 22 executes the sixth line of the robot program to set the component gripping saving amount, and executes the seventh line of the robot program to calculate the component saving position. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the eighth line of the robot program, and moves the robot 1 to the work standby position. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the ninth line of the robot program, and moves the hand 11 to the component withdrawal position P01. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 10th line of the robot program, and moves the hand 11 to the component gripping position A01. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the eleventh line of the robot program, and sends an integer value 1 to the communication port # 2 for operating the opening and closing of the hand 11. 11 is closed and the part is gripped. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 12th line of the robot program, moves the hand 11 to the retracted position P11, lifts the component, and completes the removal of the component. .

  Next, the program execution unit 22 executes the 13th to 15th lines of the robot program, thereby selecting a subsequent work process according to the product type. When the product type is 1, the program execution unit 22 executes the 16th to 19th lines of the robot program and causes the robot 1 to perform the assembly work. When the product type is 2 or 3, the program execution unit 22 executes the 21st to 34th lines of the robot program and causes the robot 1 to perform the assembly work. When the product type is 0 or a negative value, the program execution unit 22 executes the 36th to 38th lines of the robot program as error processing.

  The assembly work when the product type is 1 will be described. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 16th line of the robot program, and moves the robot 1 to the retracted position P02, which is a preparation point for assembly work. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 17th line of the robot program, and causes the component to be mounted at the assembly position A02. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 18th line of the robot program, and sends the integer value 0 to the communication port # 2 to open the hand 11. The program execution unit 22 controls the robot 1 through the robot control unit 23 by executing the 19th line of the robot program, and moves the robot 1 to the retracted position P02 to complete the mounting of the parts.

  The assembly work when the product type is 2 will be described. As in the case where the product type is 1, the program execution unit 22 executes the 21st to 24th lines of the robot program and causes the robot 1 to perform the assembly work. Here, unlike the case where the product type is 1, when the product type is 2 or 3, the retracted position in the assembling work is P03 and the assembling position is A03. Next, the program execution unit 22 determines the product type by executing the 25th line of the robot program. If the product type is 3, the program execution unit 22 also executes the 26th to 34th lines of the robot program. The 26th to 30th lines of the robot program are the same as the parts extraction from the 8th to 12th lines of the robot program. The 31st to 34th lines of the robot program are the same as the assembly work when the product type is 1 or 2. The retracted position in the assembling work here is P04, and the assembling position is A04.

  An error process performed when the product type is 0 or a negative value will be described. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 36th line of the robot program, and moves the robot 1 to the work standby position. The program execution unit 22 executes the 37th line of the robot program to control the robot 1 via the robot control unit 23 and move the robot 1 to the discard position A05. This is because the taken-out parts are discarded so as not to carry over to the next process. The program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 38th line of the robot program, opens the hand 11 and discards the part. Finally, the program execution unit 22 controls the robot 1 via the robot control unit 23 by executing the 40th line of the robot program, and moves the robot 1 to the next process standby position.

  FIG. 2 shows a flowchart of a procedure for teaching position data of a robot program executed in the program creation / teaching unit 31. A procedure for teaching position variables of the robot program will be described with reference to FIG.

  First, the program creation / teaching unit 31 extracts a position variable from the variable declaration of the robot program and the implicit type declaration used in the robot program (step S11). Here, syntax analysis of the robot program is performed, and position variables are extracted. In the robot program, variables A01, A02, A03, A04, A05, B01, P01, P02, P03, P04, P11, and J01 are extracted as position variables. Here, since C01 is declared as an integer variable, it is excluded from the extraction target.

  Next, the program creation / teaching unit 31 deletes the variable substituted by the mathematical expression from the extracted variable list. This is because there is no need to teach the position variable substituted by the mathematical formula. Further, since it is not necessary to similarly teach a position variable whose value is set from the outside, the program creation / teaching unit 31 deletes it from the list (step S12). In the above robot program, P11 is assigned to the sixth line, and P01 is assigned to the seventh line by a mathematical expression, so it is deleted from the list. In the robot program, A01 is deleted from the list because the value is set by the INPUT statement on the fifth line. As a result of the deletion, the remaining position variables are A02, A03, A04, A05, B01, P02, P03, P04, and J01.

  Then, the program creation / teaching unit 31 rearranges the remaining position variables in the order of execution of the robot program (step S13). Here, since the robot program includes a branch process, the position variables are arranged using a graph structure. In the above robot program, there is an IF statement on the 13th, 14th and 25th lines, and a branch occurs depending on the condition. Also, there is a GOTO statement on the 15th, 20th, 35th, and 39th lines, and a processing jump occurs.

  FIG. 3 shows a state in which the first appearance position of the position variable is structured in a graph according to the processing branch of the robot program. In the robot program, there are four processing flows due to processing branching. Here, the first processing flow shows a case where the product type is 1, and position variables are used in the order of B01 → P02 → A02 → J01. The second processing flow shows a case where the product type is 2, and position variables are used in the order of B01 → P03 → A03 → J01. The third processing flow shows a case where the product type is 3, and position variables are used in the order of B01 → P03 → A03 → P04 → A04 → J01. The fourth processing flow shows error processing when the product type is 0 or less, and position variables are used in the order of B01 → A05 → J01.

  Thereafter, the program creation / teaching unit 31 selects the position variables arranged in step S13 in the order of the processing flow based on the graph structure, and displays a list on the display unit 33 (step S14). FIG. 4 shows an example of a display screen on the display unit 33. FIG. 4 shows the first processing flow of the graph structure. A list of position variables to be taught is displayed, and the position variable currently being taught is indicated by a triangular marker. On the right side of the position variable name, an explanation about the position variable described in the robot program (a character string surrounded by "") is displayed. In step S14, the program creation / teaching unit 31 also sequentially displays the other processing flow graph-structured in step S13 and causes the teacher to perform the teaching work. That is, in the example of the robot program, the program creation / teaching unit 31 displays a teaching screen on the display unit 33 a total of four times, and instructs the teacher to teach all position variables that require teaching.

  Here, it is not necessary to teach again about the already taught point (position variable). For example, in the robot program described above, the position variables B01 and J01 are used in all processing flows. However, if teaching is performed along the first processing flow, the position variables B01 and J01 are immediately followed by the second to fourth processing flows. There is no need to teach again. For this reason, the program creation / teaching unit 31 removes the taught points from the teaching work and displays them differently from the points to be taught (changes the character to gray, changes the color of the box, etc.). Anyway.

  On the contrary, it is also possible to re-teach the taught point. This is because there is a possibility that the position of the robot may be slightly displaced due to the posture of the robot or the weight of the parts, or due to backlash of the internal gear, etc. This is because it may change. Therefore, by holding the teaching data for each processing flow, it is possible to reduce the occurrence of work errors due to slight deviations during assembly. When re-teaching is possible, processing is performed by providing a plurality of areas so that data can be held for each processing flow instead of one data area for each teaching point.

  In FIG. 1, the program creation / teaching unit 31 is provided in the program creation / teaching device 3, but the configuration in which the program creation / teaching device 3 exists in the robot control device 2, the program creation / teaching device 3, and the robot control device 2. It goes without saying that the same effect can be obtained even in a configuration in which the two are integrated.

  Further, in FIG. 3, in each processing flow, the position variable that once appeared on the graph structure is excluded from the graph structure (the first appearing position so that the same position variable does not appear repeatedly in the same processing flow). In order to perfectly match the assembly procedure, all position variables are stored in the graph structure in the order used in the robot program, without excluding existing position variables. You may display.

  Further, FIG. 4 shows an example in which position variables are displayed in a list and the teaching data is indicated by a triangular marker. Instead of instructing by a triangular marker, a corresponding line is colored or a list is displayed. The same effect can be obtained by sequentially displaying only the position variables to be taught instead of the display.

  In this embodiment, it is not necessary for the teaching operator to identify lines and variables that do not require teaching in the robot program, and the teaching position is displayed in the order of the robot operation according to the assembly procedure. Can be shortened. In addition, when a robot program is created, the description of the position variable to be taught is simply described in the robot program, and the explanation is displayed during the teaching operation. For this reason, it becomes easy to understand the processing contents of the robot program, it becomes clear what position should be taught at the time of teaching, and the time required for teaching work can be shortened. Energy saving can be realized by shortening the time for operating the robot and the program creation / teaching device during teaching work, and consequently the load on the environment by the robot itself as a production facility can be reduced.

  Furthermore, even when an assembly error occurs for each process flow, the teaching points can be held for each process flow without changing the robot program itself, so that the occurrence of errors during the assembly work can be reduced.

Embodiment 2. FIG.
FIG. 5 is a diagram showing a configuration of the program creation / teaching apparatus according to the second embodiment of the present invention. The program creation / teaching apparatus 3 includes a program creation / teaching unit 31, a display unit 33, a robot simulation unit 34, and a data storage unit 35. The program creation / teaching unit 31 is the same as in the first embodiment. The display unit 33 displays a robot model, a robot program, and position data. The robot simulation unit 34 simulates the operation of the robot. The data storage unit 35 stores programs and position data. In the present embodiment, the program creation / teaching device 3 is realized by software processing on a computer such as a personal computer or a workstation.

  The processing contents of the program creation / teaching unit 31 are the same as those in the first embodiment, but the robot displayed on the computer screen (display unit 33) is used instead of using the actual robot when teaching the position data. Use a model. The data storage unit 35 has the same function as the program / data storage unit 24 of the robot control apparatus 2 of the first embodiment, but the data storage unit 35 is used only in an offline state where the robot is not actually operated. . The robot simulation unit 34 simulates the movement of the robot using a robot model, and can execute the robot program to acquire the coordinate data of the hand 11 and the angle data of each axis of the robot. The robot simulation unit 34 can define not only the robot but also objects around the robot. For example, there are a gantry, a work that is a work object, a jig that holds the work, a part that is attached to the work, a parts table that holds the part, and the like. The display unit 33 is similar to the first embodiment, but can display the three-dimensional data (three-dimensional image) of the robot simulator. The display unit 33 can specify a three-dimensional coordinate position on a three-dimensional image display screen.

  A procedure of teaching work in the second embodiment will be described. First, the robot simulation unit 34 defines objects around the robot. The definition of the object around the robot may use 3D-CAD or input vertex data of the object. Next, as in the first embodiment, in step S11, step S12, and step S13 of FIG. Next, in step S14, the display unit 33 displays the previously defined robot and a frame, a work, a jig, and the like that are objects around the robot as a three-dimensional image. The teaching worker specifies on the screen of the display unit 33 the three-dimensional coordinates used for gripping the part and assembling the part. The robot simulation unit 34 calculates the angle of each axis of the robot based on the designated three-dimensional coordinates, moves the robot model to the designated position, and displays it on the screen. This makes it possible to determine whether the position and posture of the robot are correct.

  Here, in addition to specifying the three-dimensional coordinates and orientation on the screen of the display unit 33, a method of inputting coordinate values numerically or a method of specifying an object displayed on the screen is used. The same effect can be obtained when the three-dimensional coordinates and orientation are designated in this way.

  In the present embodiment, teaching is possible without a robot body, so there is no risk of the robot colliding with surrounding objects during teaching work. In addition, since the teaching work can be performed simultaneously by a plurality of workers, the time required for the teaching work can be shortened.

Embodiment 3 FIG.
FIG. 6 is a diagram showing a configuration of the program creation / teaching apparatus according to the third embodiment of the present invention. The robot 1 is the same as that in the first embodiment. In addition to the configuration of the robot control device 2 of the first embodiment, the robot control device 2 includes a movement instruction execution unit 26 that issues a command to the robot control unit 23 during teaching work, a movement instruction execution unit 26, and a program creation / teaching device 3. And a data communication unit 25 for performing communication with each other. In addition to the configuration of the program creation / teaching device 3 of the first and second embodiments, the program creation / teaching device 3 includes a movement instruction unit 36, a movement instruction unit 36, and the robot control device 2. And a data communication unit 37 for performing communication, which are realized on a computer such as a personal computer or a workstation.

  In the processing of the program creation / teaching device 3, the processing for specifying the position of the robot in the offline state in the data storage unit 35 using the robot simulation unit 34 is the same as in the second embodiment. By sending a movement instruction from the movement instruction unit 36 to the robot controller 2 via the data communication units 37 and 25, the movement instruction execution unit 26 moves the robot 1 to the vicinity of the designated teaching point. Thereafter, the worker performs teaching work and uses the taught data in accordance with the actual product.

  FIG. 7 is a flowchart showing an operation procedure for teaching position data of the robot program. This operation is executed in the program creation / teaching unit 31. The processes in steps S11 and S12 are the same as in the first embodiment. Thereafter, as in the second embodiment, the robot simulation unit 34 is used to set the three-dimensional information offline by the teacher (step S21). In this case, as in the second embodiment, in addition to designating coordinate values in the three-dimensional coordinate system, an approach showing the direction in which the robot hand 11 moves toward the designated position as seen from the part. A vector is also specified. For example, in the teaching of the assembly work position where parts are assembled from the upper direction to the lower direction (that is, the lower direction of the Z-axis), the three-dimensional coordinates of the assembly position of the workpiece on which the parts can be assembled and the robot moves to this assembly position. Designate an approach vector, for example (0, 0, 100). This approach vector can be calculated by designating the surface of the shape of the object around the robot and the coordinate value on the surface. At this time, the normal vector of the surface is treated as a unit vector of the approach vector, and the position where the robot hand 11 does not collide with the surface is calculated as the vector length. For example, in teaching the component gripping position, the approach vector can be calculated by designating the center point of the gripping surface of the three-dimensional image of the component.

  Next, the program creation / teaching unit 31 calculates a teaching start point from the three-dimensional coordinates set in step S21 and the approach vector (step S22). Here, the teaching start point is a point where the robot is moved to the vicinity of the coordinates taught offline when the robot 1 is moved to perform teaching work. The teaching start point is calculated by adding the work position and the approach vector.

  The processes in steps S13 and S14 are the same as in the first embodiment. Thereafter, a movement instruction is sent from the movement instructing unit 36 to the robot controller 2, and the robot 1 is moved to the teaching start point to perform teaching work, and the taught data is used in accordance with the actual object (step S23).

  As in the present embodiment, by moving the robot to the teaching start point during the teaching work, the teaching work can be performed without moving the robot greatly, so that the time required for the work can be shortened. Moreover, the mistake which teaches a different teaching point can be prevented.

Embodiment 4 FIG.
FIG. 8 is a diagram showing an example of a teaching screen in the fourth embodiment of the program creation / teaching apparatus according to the present invention. The configuration of the program creation / teaching device 3 is the same as that of the third embodiment, and the display unit 33 has a three-dimensional display function. The operation procedure for teaching the position data of the robot program is the same as that of the third embodiment in steps S11, S12, S21, S22, S13, and S23. In step S14, the program creation / teaching unit 31 causes the display unit 33 to display not only the teaching point, attribute information, and order, but also the robot trajectory 52 from the position before the teaching point to the teaching point in a three-dimensional display.

  As described above, by displaying the robot trajectory 52 up to the teaching position as a three-dimensional image in advance before starting teaching, it is confirmed in advance that the robot does not collide with surrounding objects when moving to the teaching starting position. Is possible. This eliminates the need for a confirmation operation when moving the robot to the teaching start position, thereby reducing the time required for teaching work.

  In addition, although the case where the locus | trajectory of a robot is displayed as an example here as an example, it is not necessarily displayed as a three-dimensional image, whether the movement destination of the robot is assumed or not, As long as the teaching worker can confirm the presence or absence of a collision with another object, it may be displayed as a two-dimensional image.

  Since other aspects are the same as those in the third embodiment, overlapping description is omitted.

  Each of the above embodiments is an example of a preferred embodiment of the present invention, and the present invention is not limited to these, and various modifications can be made.

  As described above, the program creation / teaching apparatus and method according to the present invention are useful for teaching a robot, and are particularly suitable for teaching a robot in a short time.

1 Robot 2 Robot Control Device 3 Program Creation / Teaching Device 11 Hand 21, 25, 32, 37 Data Communication Unit 22 Program Execution Unit 23 Robot Control Unit 24 Program / Data Storage Unit 26 Movement Instruction Execution Unit 31 Program Creation / Teaching Unit 33 Display unit 34 Robot simulation unit 35 Data storage unit 36 Movement instruction unit 52 Robot trajectory

Claims (5)

An extraction means for analyzing the created robot program and extracting position variables used therein;
Means for selecting a position variable that needs to be taught as a teaching target variable from among the extracted position variables;
Means for arranging the teaching target variables in a graph structure in accordance with the order in which instructions for using the teaching target variables are executed based on the processing flow of the robot program;
A program creation / teaching apparatus comprising: a display unit that sequentially displays the teaching target variables in accordance with the arrangement in the graph structure when the teaching target variables are accepted. The extraction means extracts a character string described in the robot program associated with the position variable together with the position variable,
2. The program creation / teaching apparatus according to claim 1, wherein the display means displays the character string together with the position variable at the time of teaching. Means for setting a value based on position information acquired from the outside to the teaching target variable;
3. A means for moving a robot that operates according to the robot program to a teaching start position that is set in the vicinity of the position indicated by the position information prior to receiving the teaching of the teaching target variable. The program creation / teaching device described.   4. The program creation / teaching apparatus according to claim 3, further comprising means for simulating and displaying the trajectory of the robot prior to moving the robot to the teaching start position. Analyzing the created robot program and extracting the position variables used in it,
Selecting a position variable that needs to be taught from among the extracted position variables as a teaching target variable;
Arranging the teaching target variables in a graph structure according to the order in which the instructions using the teaching target variables are executed based on the processing flow of the robot program;
And a step of sequentially displaying the teaching target variables in accordance with the arrangement in the graph structure when receiving the teaching of the teaching target variables.

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