JP3832686B2 - Robot operation program display device and control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an operation program display device for a robot, and more particularly to an operation program display device for simultaneously executing or teaching a plurality of operation programs.
[0002]
[Prior art]
When a single control device describes an operation program for each robot or external axis and executes each operation program independently and simultaneously, the conventional control device has only one operation program displayed on the screen. In order to check the execution state of other operation programs, it was necessary to switch the screen by key operation.
[0003]
[Problems to be solved by the invention]
However, in the prior art, in order to check the operation program operating independently of each other on the display unit, the screen must be frequently switched. Also, the execution position of each program at a certain time cannot be confirmed at the same time.
Furthermore, when teaching an operation program that operates while synchronizing each step among a plurality of programs, it is difficult to understand the correspondence of the steps between the operation programs.
Therefore, an object of the present invention is to provide an operation program display device that can simultaneously check the execution state of a plurality of operation programs on a single screen.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows.
According to the first aspect of the present invention, there is provided display means for simultaneously displaying execution states of a plurality of operation programs describing operations of a plurality of robots, at least a master task execution unit, a first subtask execution unit, and a second subtask An operation program execution unit that executes the operation program in the master task execution unit, the first subtask execution unit, and the second subtask execution unit, and at least the first subtask execution unit or the second subtask in the robot control apparatus and a task selection means for selecting one of the execution unit, the operating one of the first and the second sub-tasks execution unit selected by the task selecting unit 1 operation mode, or to synchronize operation of both the first and the second sub-tasks execution unit An operation mode switching means for selecting either the second operation mode, while synchronizing the respective program steps between the operating program, each executed in the first sub-task execution unit and the second sub-task execution unit operation When the first operation mode is selected by the operation mode switching means during the teaching mode for teaching the robot operation and the synchronization means for the subtask execution unit selected by the task selection means, Executing the first step of executing a cursor movement command for moving the cursor displayed on the display means or a next operation command for operating the robot to the program step where the cursor is located , and the operation mode switching means The second operation mode is If it is-option, the state in which the operation program step is synchronized by the synchronization means, in addition to the first step, with respect to sub-tasks execution unit other than the sub-tasks execution unit selected by the task selecting unit, Means for executing a second step for executing the same command as the command executed in the first step.
The invention described in claim 2 is characterized in that the first and second operation modes can be switched during teaching.
According to a third aspect of the invention, there is provided the robot operation program display device according to the first or second aspect.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing an example of a system for carrying out the present invention, in which 11 is a teaching / selection unit, 12 is an operation program storage area, 13 is an operation program execution unit, and 14 is an operation program / state. A display unit, 15 is a robot 1 drive unit, and 16 is a robot 2 drive unit.
Operation program execution unit 13, the master task execution unit 13A, the sub-1 task execution portion 13B, consisting of the sub-2 task execution unit 13C.
FIG. 2 shows an example of the display area division of the display screen in the operation program / status display section 14, where 21 is a master task display area, 22 is a sub 1 task display area, and 23 is a sub 2 task display area. , 24 are various control state display areas. Each display area in the operation program / status display unit 14 can be changed in the size of an arbitrary display area, or the arrangement state of the areas can be selected by a key operation.
[0006]
(1) In the system of FIG. 1, the teaching / selecting unit 11 selects and executes an operation program (hereinafter referred to as a master task job) to be executed by the master task execution unit 13A. The operation program execution unit 13 executes the master task job in the master task execution unit 13A and transfers the operation status data of the master task job to the master task display area 21. In the master task job, by executing a specific instruction, the sub 1 task execution unit 13B or the sub 2 task execution unit 13C causes an operation program (hereinafter referred to as a sub 1 task job or a sub 2 task job) to be designated. Executed.
The operation program execution unit 13 executes the operation program independently in each subtask execution unit , and transfers operation status data to the operation program / status display unit 14.
The operation program / status display unit 14 displays the status of each task execution unit transferred from the operation program execution unit 13 in a corresponding display area. When the sub 1 task job or the sub 2 task job is not selected, the display area corresponding to each job is displayed blank or a message such as “job not selected” is displayed. Alternatively, it represents that the sub two-task job is not selected. Alternatively, only the master task job can be displayed by expanding the master task display area. Furthermore, an arbitrary task execution unit may be selected and the operation program of the task execution unit may be enlarged and displayed.
The teaching / selecting unit 11 includes an axis operation key for operating the robot, a cursor key for selecting a step on each operation program, and a main task execution unit (hereinafter referred to as a current task execution unit ) for operation. A task switching key for selection is provided. The current task execution unit selected by the task switching key highlights the display area. By placing the cursor on a step describing the robot operation in the operation program and pressing a dedicated key, the robot can be moved to that step at a constant speed while it is being pressed. The teaching position is confirmed by this operation (hereinafter, this operation is referred to as “next” operation). When the next operation is performed, the operation program execution unit 13 reads information on the step with the cursor of the selected task execution unit from the operation program storage area 12, and operates the robot.
[0007]
(2) In the above-described system, work can be performed while synchronizing each step between the sub 1 task execution unit 13B and the sub 2 task execution unit 13C. For example, a case where two robots of the same model are arranged on the left and right with respect to a symmetric workpiece and are operated by the sub 1 task execution unit 13B and the sub 2 task execution unit 13C, respectively, and simultaneously perform symmetric work. It is. When confirming the teaching of the synchronous work as described above, first, the “interlocking mode” in which the sub 1 task execution unit 13B and the sub 2 task execution unit 13C are synchronized by the operation from the teaching / selection unit 11 is selected. The “independent mode” for operating only the task execution unit on the selected side is selected in advance. This mode selection can be arbitrarily switched during teaching. If "alone mode" is selected, the cursor movement and the next operation on the operation program performs only the task execution unit that is selected at that time. On the other hand, when “interlocking mode” is selected, the cursor movement and the next operation are simultaneously performed in both the sub 1 task execution unit 13B and the sub 2 task execution unit 13C.
[0008]
FIG. 3 and FIG. 4 are flowcharts relating to processing for operation in the teaching mode in the operation program execution unit 13 according to the present invention. This process is started when the teaching / selecting unit 11 performs a key operation with the operation content as a command. Specifically, it is as follows.
[ Figure 3 ]
Step 110: Read the contents of the operation input from the teaching / selection unit 11 as a command.
Step 120: Determine which task execution unit is selected as the current task execution unit . If it is the master task execution unit 13A, go to step 130, if it is the sub 1 task execution unit 13B, go to step 140, and sub 2 task execution unit 13C. If so, the process proceeds to step 170.
Step 130: Command execution processing is performed on the master task execution unit 13A, and the process ends.
Step 140: Command execution processing is performed on the sub 1 task execution unit 13B.
Step 150: It is determined whether or not the mode is linked. In the case of the interlock mode, the process proceeds to step 160, and otherwise ends.
Step 160: Command execution processing is performed on the sub two-task execution unit 13C.
Step 170: Command execution processing is performed on the sub two-task execution unit 13C.
Step 180: It is determined whether or not the interlock mode is set. In the case of the interlock mode, the process proceeds to step 190, and otherwise, the process ends.
Step 190: Command execution processing is performed on the sub 1 task execution unit 13B.
[ Figure 4 Command execution processing ]
Step 200: It is determined whether the command is “cursor movement” or “next operation”. If the cursor is moved, the process proceeds to step 210. If the command is a next operation, the process proceeds to step 220.
Step 210: Move the cursor of the teaching unit based on the cursor movement command.
Step 220: Based on the next operation command, data is read and a robot operation command is generated.
[0009]
5 and 6 show how the display in the operation program / status display unit 14 is actually controlled by the flowchart of FIG. The flowchart of FIG. 3 is shown on the left side, and the state of the display screen in the operation program / status display unit 14 shown in FIG. 2 is shown on the right side. In this figure, a job that can synchronize both the sub 1 task execution unit 13B and the sub 2 task execution unit 13C is activated, and the current task execution unit is the sub 2 task execution unit 13C. Here, it is assumed that the teaching / selection unit 11 performs an operation of moving the cursor downward by one line.
FIG. 5 shows the case of the single mode. In step 120, since the current task execution unit is the sub-2 task execution unit , step 170 is executed, and the cursor in the sub2 task display area 23 moves downward by one line.
On the other hand, FIG. 6 shows a case of the interlock mode. In step 120, since the current task execution unit is the sub-2 task execution unit , step 170 is executed, and the cursor in the sub2 task display area 23 moves downward by one line. Further, since it is the interlock mode, step 190 is executed by the determination in step 180, and the cursor in the sub 1 task display area 22 is also moved downward by one line.
[0010]
【The invention's effect】
As described above, according to the present invention, each operation state of an independently operating program can be confirmed at a glance, so that it is easy to confirm the operation and troublesome such as switching screens. No operation is required.
Further, by displaying a plurality of operation programs that move in synchronization with each other, the confirmation of synchronization between the programs can be easily performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an embodiment of the present invention.
FIG. 2 is a diagram of area division of a display screen according to an embodiment of the present invention.
FIG. 3 is a flowchart related to the outline processing of each task in the operation program execution unit according to the embodiment of the present invention.
FIG. 4 is a flowchart illustrating command execution processing according to the embodiment of this invention.
FIG. 5 is an explanatory diagram of a single mode showing how display is controlled in the operation program / status display unit according to the embodiment of the present invention.
FIG. 6 is an explanatory diagram of an interlocking mode showing how display is controlled in the operation program / status display unit according to the embodiment of the present invention.
[Explanation of symbols]
11 Teaching / Selection Unit 12 Operation Program Storage Area 13 Operation Program Execution Unit 13A Master Task Execution Unit 13B Sub 1 Task Execution Unit 13C Sub 2 Task Execution Unit 14 Operation Program / Status Display Unit 15 Robot 1 Drive Unit 16 Robot 2 Drive Unit 21 master task display area 22 sub 1 task display region 23 sub 2 task display region 24 control status display area

Claims (3)

The master task execution comprises: display means for simultaneously displaying the execution statuses of a plurality of operation programs describing operations of a plurality of robots; and at least a master task execution unit, a first subtask execution unit, and a second subtask execution unit. An operation program execution unit that executes the operation program in the first subtask execution unit, and the second subtask execution unit, and at least one of the first subtask execution unit and the second subtask execution unit A task control means, and a robot control device comprising:
The first operation mode for operating one of said first and said second subtask execution unit selected by the task selecting unit, or the second operating synchronize both the first and the second sub-tasks execution unit An operation mode switching means for selecting one of the operation modes;
Synchronization means for operating the program steps of the operation program executed in the first subtask execution unit and the second subtask execution unit, respectively, in synchronization with each other;
When the first operation mode is selected by the operation mode switching means during the teaching mode for teaching robot operation, the display means displays the subtask execution unit selected by the task selection means. A first step of executing a cursor movement command for moving the cursor, or a next operation command for operating the robot to the program step where the cursor is positioned, is executed by the operation mode switching means. When the operation mode is selected, in addition to the first step, the subtask execution unit other than the subtask execution unit selected by the task selection unit has the operation program step synchronized by the synchronization unit. On the other hand, execution processing is performed in the first step. Operation program display apparatus for a robot, characterized in that it comprises a means for executing the second step of the execution process of the same command and command. The robot operation program display device according to claim 1, wherein the first and second operation modes can be switched during teaching. A robot control apparatus comprising the robot operation program display device according to claim 1.

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