JP5316382B2 - pendant - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a pendant which restrains the frequent performance of switching operation of a display image screen when performing a series of input operation, when dividedly displaying an input accepting image screen for accepting the input operation of an operator on a plurality of unit image screens. <P>SOLUTION: A control part 41 successively stores the unit image screen displayed on a display part 12 in a storage part 45 as an operation history image screen when a function setting input part 42 accepts the operation, and stores an object obtained by combining the unit image screen stored this time and the unit image screen stored last time in no particular order in the storage part 45 as a specific image screen pattern. The control unit 41 can generates a link button for switching the image screen display between the mutual ones of the unit image screens, when two or more specific image screen pattern of a combination of the same unit image screen are stored. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a pendant that is connected to a controller that controls a robot, and that allows the setting of various functions of the robot by providing the controller with information input by an operator's operation.

  For example, in an industrial robot system, a pendant (teaching pendant) is connected to a controller that controls the robot. This pendant includes a teaching screen, a screen for setting various functions of the robot, a display for displaying a screen showing the robot's operation status, and an operation unit for performing various input operations. Has been. An operator can hold the pendant in his / her hand to perform robot teaching work (teaching), set parameters, etc., or select a work program to activate the robot. it can.

  For this reason, the size of the pendant is limited to a size that can be held by an operator. For this reason, the display part of a pendant cannot be enlarged too much, and the screen size is about 7 inches, for example. Further, the pendant screen is often a touch panel, for example, and an operator that can input information by an operator's operation is displayed. Since this manipulator must maintain its operability, it cannot be made very small. Therefore, it is necessary to secure a predetermined area for displaying the operation element on the screen of the pendant, and the display area for displaying various information is reduced accordingly. The size of characters displayed in the display area also needs to be set to a size that does not deteriorate visibility. For this reason, the amount of information that can be displayed on the pendant screen at one time is not very large.

  For this reason, it is difficult to display a screen for receiving a predetermined series of operations on the display unit of the pendant, for example, an input receiving screen for receiving operations related to setting of each parameter of the robot at a time. Therefore, it is widely performed that the input reception screen is divided into a plurality of unit screens having a tree structure and displayed on the display unit of the pendant. When the input reception screen is divided and displayed in this way, especially when the input operation is performed along a series of flows, the display screen switching operation may become troublesome. For example, when performing an operation of correcting parameters during teaching, the setting operation is performed along a series of flows.

  At this time, when it is necessary to perform a parameter setting operation on each unit screen separated from each other on the tree (hierarchy), the display screen switching operation must be performed many times. In addition, in the operation of correcting the setting of parameters and the like, an optimum value is rarely determined by one setting, and it is often necessary to repeatedly perform the same setting operation. In such a case, the frequency of the screen switching operation is further increased. In addition, since the flow of a series of operations related to such settings differs depending on the usage situation, there are always cases where screen switching must be performed frequently, regardless of how the unit screen tree structure is configured. Occur.

  As a countermeasure against such a problem, it is conceivable to link the unit screens to each other. This is an image in which shortcuts to various files are provided on a desktop screen of a personal computer, for example. However, since the pendant screen is not so large as described above, it is difficult to provide links to all other unit screens on each unit screen while ensuring visibility and operability.

  On the other hand, Patent Document 1 discloses a technique for generating a direct link from a predetermined file to another file according to the usage status. That is, in Patent Document 1, when the hyperlink to the file B is set in the file A of the predetermined website and the hyperlink to the file C is set in the file B, the above two A technique is disclosed in which it is determined that a chain of file A → file B → file C has occurred when the frequency of use of hyperlinks is high, and a direct link from file A to file C is generated.

JP 2002-123556 A

  Since the technique described in Patent Document 1 is performed on the condition that a hyperlink is set in a predetermined file, it can be applied to a robot pendant that does not have a hyperlink on the unit screen. Can not. The technique described in Patent Document 1 facilitates one-way access from a predetermined file (for example, a top page) to a file existing in a deep hierarchy. On the other hand, the display screen of the robot's pendant cannot be improved in its convenience unless it is linked between the unit screens, particularly in parameter correction work. From this point of view, the technique described in Patent Document 1 cannot be applied to a robot pendant.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to perform a series of input operations when an input reception screen for receiving an operator's input operation is divided into a plurality of unit screens. An object of the present invention is to provide a pendant that can suppress frequent switching of display screens.

  According to the first aspect of the present invention, the input receiving screen for receiving the input operation of the operator is divided into a plurality of unit screens having a tree structure (hierarchical structure) and displayed on the display means. When the function setting input unit accepts an operation on a predetermined unit screen, the control unit outputs information related to setting of the function corresponding to the accepted operation to the controller, and when the screen switching input unit accepts the operation, the control unit accepts the operation. Switch the display screen to another unit screen adjacent on the tree corresponding to the operation. The operation history screen storage means operates the displayed unit screen when the function setting input means accepts the operation from when the predetermined unit screen is displayed on the display means until switching to another unit screen. Store sequentially as a history screen. In other words, the operation history screen storage means sequentially stores unit screens on which an operation related to function setting has been performed at least once as an operation history screen. In other words, the unit screen displayed only for switching the screen display is not stored as the operation history screen.

  When the operation history screen is newly stored in the state where the operation history screen is stored in the operation history screen storage unit, the specific screen pattern storage unit stores the unit screen corresponding to the operation history screen stored this time and the previous storage The unit screens corresponding to the operated operation history screens are sequentially stored as specific screen patterns that are combined in any order. For example, when the unit screen stored this time is “screen A” and the unit screen stored last time is “screen B”, the unit screen stored this time is “screen B” and stored last time. When the unit screen is “screen A”, both are stored as the same specific screen pattern (combination of screen A and screen B).

  The same pattern counting means counts the specific screen patterns stored in the specific screen pattern storage means that have the same combination of unit screens. Then, when the count value of the same pattern counting means reaches a predetermined value of 2 or more, the link inquiry means can switch the screen display between two unit screens included in the specific screen pattern (link A link generation confirmation input means for accepting an operation for confirming whether or not to provide is displayed on the display means. And a control means will provide a link input means in each of the unit screen which becomes object, if the link generation confirmation input means receives operation which produces | generates a link. When the link input means provided on the unit screen accepts the operation, the control means switches the display screen to the unit screen corresponding to the accepted operation. That is, in this means, the strength of the mutual relationship for each unit screen stored as the operation history screen is confirmed using the above count value, and only those combinations having a strong mutual relationship are displayed between the unit screens. A link that can be switched can be generated.

  For example, consider a case where a series of input operations for setting functions are performed on a predetermined unit screen (hereinafter referred to as screen A) and another unit screen (hereinafter referred to as screen B). In this case, when an input operation related to function setting is performed on the screen A, the screen A is stored as an operation history screen. Thereafter, the display screen is switched to the screen B without performing the operation related to the function setting on another unit screen, and when the input operation related to the function setting is performed on the screen B, the screen B is stored as the operation history screen. Is done. At this time, the combination pattern of the screen A and the screen B is stored as the specific screen pattern, and the count value is 1.

  Subsequently, when the display screen is switched to the screen A without performing the input operation related to the function setting on another unit screen, and the input operation related to the function setting is performed on the screen A, the screen A is changed to the operation history screen. Is remembered as At this time, the combination pattern of the screen B and the screen A is stored as a specific screen pattern of the combination of the screen A and the screen B, and the count value is 2. Then, whether or not to generate a link between screen A and screen B is confirmed. When an operation for generating a link is performed, a link input unit is provided in the screen A so that the display can be switched to the screen B, and the display can be switched to the screen A in the screen B. Link input means is provided.

  According to such a configuration, when the input reception screen for receiving the input operation of the operator is divided into a plurality of unit screens and displayed, when performing a series of input operations, the input operation related to the function setting is performed. Since it is possible to generate a link that enables display switching between each unit screen that needs to be switched directly between each other, it is possible to frequently switch display screens It is suppressed and the operability of the pendant is improved.

  In addition, it is possible to determine the strength of the mutual relationship between the unit screens based on the count value of the specific screen pattern in which the operation history screens stored this time and the previous time are combined in any order, and to generate a link between the unit screens. It has become. In the first place, in function setting work (especially correction work), an optimum setting value is often obtained while reciprocating between unit screens to be set. This means makes it possible to easily generate a link that makes it possible to directly switch between the unit screens by using the characteristic of the setting work that needs to frequently go back and forth between predetermined unit screens. For this reason, if it is assumed that such setting work is performed, this means, for example, a link is generated when compared with a method that generates only a one-way link in consideration of the switching order of display screens. The period until it is made can be shortened to about half.

  In addition, since the link can be generated when the count value of the specific screen pattern reaches a predetermined value of 2 or more, after the input operation related to the function setting is performed on the predetermined unit screen, If the input operation related to the function setting is performed on the unit screen, the count value is 1, and the link is not generated. Thus, since the link is not generated when the mutual relationship between the unit screens is weak, the link is not generated more than necessary. Further, since the link inquiry means confirms whether or not to generate a link after the above condition for generating a link is satisfied, the operator is in a case where the link generation condition is satisfied. However, it is possible to selectively generate only the links that are determined to be necessary.

  According to the means of claim 2, the same pattern counting means is the unit of the specific screen patterns stored in the specific screen pattern storage means in the portion where the same combination of unit screens exists continuously. Count the number of specific screen patterns of screen combinations. That is, the same pattern counting means increments the count value by +1 only when the specific screen pattern stored at a certain time point and the specific screen pattern stored at the previous time point are the same combination. According to such a configuration, it is possible to generate a link between them only when frequently reciprocating between predetermined unit screens on which function setting input operations are performed. A link that enables switching of display between the unit screens is required when an operation that is likely to frequently reciprocate between these unit screens (for example, a setting correction operation) is performed. Thus, according to this means, since it is possible to provide a link in a case where it is inherently necessary to provide a link, the convenience for the operator can be further improved.

Electrical configuration diagram of teaching pendant showing the first embodiment of the present invention A diagram schematically showing the configuration of the robot system Diagram showing an example of the tree structure of the input reception screen Diagram showing the teaching pendant with the top screen displayed Fig. 4 equivalent diagram with the I-type variable screen displayed Fig. 4 equivalent view of IO screen displayed Flow chart showing the contents of control performed when the display screen is switched Flow chart showing the contents of control performed when the operation history screen is stored Flow chart showing the contents of control performed when a specific screen pattern is stored Flow chart showing the contents of link generation control Figure showing an example of a link generation confirmation window The figure which shows an example of the transition situation of the unit screen when setting work is performed The figure which shows an example of the robot screen of the state in which the link button was produced | generated The figure which shows an example of the I type variable screen of the state in which the link button was produced | generated The figure which shows an example of IO screen of the state in which the link button was produced | generated The figure which shows an example of the program selection screen in the state where the link button was generated The figure which shows an example of the program starting screen in the state where the link button was generated FIG. 12 equivalent diagram when the setting operation is performed in a state where the link button is generated FIG. 9 equivalent view showing the second embodiment of the present invention The figure which shows schematically the operation history screen and specific screen pattern when operation is performed by reciprocating only between two unit screens. FIG. 20 is a diagram corresponding to FIG. 20 illustrating a first example through an operation on another unit screen while an operation is performed by reciprocating between two unit screens. FIG. 20 is a diagram corresponding to FIG. 20 illustrating a second example through an operation on another unit screen while an operation is performed by reciprocating between two unit screens.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.
FIG. 2 shows a system configuration of a general industrial robot. The robot system 1 shown in FIG. 2 includes a robot 2, a controller 3 that controls the robot 2, and a teaching pendant 4 (corresponding to a pendant) connected to the controller 3.

  The robot 2 is configured as, for example, a 6-axis vertical articulated robot. The robot 2 includes a base 5, a shoulder portion 6 that is rotatably supported by the base 5 in the horizontal direction, a lower arm 7 that is rotatably supported by the shoulder portion 6 in the vertical direction, and a lower arm 7. A first upper arm 8 rotatably supported in the vertical direction, a second upper arm 9 rotatably supported by the first upper arm 8, and a vertical direction on the second upper arm 9 The wrist 10 is rotatably supported on the wrist 10 and the flange 11 is rotatably supported on the wrist 10 by twisting.

  The base 5, the shoulder portion 6, the lower arm 7, the first upper arm 8, the second upper arm 9, the wrist 10 and the flange 11 function as an arm of the robot 2. Although not, an end effector (hand) is attached. The plurality of axes provided in the robot 2 are driven by motors (not shown) provided corresponding to the respective axes.

  The teaching pendant 4 is, for example, a size that can be operated by being carried by a user (operator) or carried by hand, and is formed in, for example, a thin, substantially rectangular box shape. The teaching pendant 4 has a display unit 12 made of, for example, a liquid crystal display at the center of the surface portion. Various screens are displayed on the display unit 12 (corresponding to display means). The display unit 12 is configured with a touch panel. In addition, the teaching pendant 4 is provided with various key switches 13 around the display unit 12, and the user performs various input operations using the key switches 13 and the touch panel.

  The teaching pendant 4 is connected to the controller 3 via a cable, and performs high-speed data transfer with the controller 3 via a communication interface. Information such as an operation signal input by an operation (touch operation) is transmitted from the teaching pendant 4 to the controller 3. The controller 3 supplies driving power to the teaching pendant 4 together with a control signal and a display signal.

  The user can execute various functions such as operation and setting of the robot 2 by using the teaching pendant 4. For example, the user can call a control program stored in advance by operating the key switch 13 or touch operation, The robot 1 can be activated and various parameters can be set. Also, various teaching operations can be executed by operating the robot 2 by manual operation.

  The display unit 12 displays a desired screen such as a menu screen, an input reception screen, and a status display screen as necessary. Among these, the input reception screen is for receiving a series of operations performed by the user in order to execute various functions such as operation and setting described above. However, the input reception screen has a large amount of information to be displayed and cannot be displayed on the display unit 12 at a time. For this reason, the input reception screen is divided into a plurality of unit screens having a tree structure (hierarchical structure), and is displayed on the display unit 12 for each unit screen. FIG. 3 shows an example of the tree structure of this input reception screen.

  As shown in FIG. 3, the unit screen located at the top of the tree is the top screen 21. Directly below the top screen 21 are a program selection screen 22, a robot screen 23, a variable / IO screen 24, and the like. Immediately below the program selection screen 22, a program content screen 25, a program start screen 26, a program stop screen 27, and the like are located. Immediately below the program content screen 25, a breakpoint setting screen 28, a position capture screen 29, and the like are located. On the other hand, a variable selection screen 30, an IO screen 31 and the like are located immediately below the variable / IO screen 24. Immediately below the variable selection screen 30, an I-type variable screen 32 and the like are located. These unit screens displayed on the display unit 12 can be sequentially switched to another unit screen adjacent on the tree by an operation of the key switch 13 or a touch operation.

  FIG. 1 schematically shows the electrical configuration of the teaching pendant 4 by functional blocks. As shown in FIG. 1, the teaching pendant 4 includes a control unit 41, a function setting input unit 42, a screen switching input unit 43, a link input unit 44, a storage unit 45, a display unit 12, and a communication I / F 46. . The control unit 41 corresponds to the control means, the same pattern count means, and the link inquiry means in the present invention. The control unit 41 is configured mainly with a microcomputer including a CPU, a ROM, a RAM, an I / O, and the like. The function setting input unit 42 (corresponding to a function setting input unit) receives an operation of the key switch 13 and a touch operation related to setting of various functions and various parameters of the robot 2. The screen switching input unit 43 (corresponding to a screen switching input unit) receives an operation or a touch operation of the key switch 13 for switching a display screen (unit screen) displayed on the display unit 12 to another unit screen adjacent on the tree.

  In addition, another unit screen adjacent on the tree is a unit screen positioned directly above it or a unit screen positioned directly below it. For example, in FIG. 3, the unit screens adjacent on the tree of the variable / IO screen 24 are the top screen 21 in the upper layer, the variable selection screen 30 and the IO screen 31 in the lower layer. On the other hand, the program selection screen 22 and the robot screen 23 do not correspond to unit screens adjacent on the variable / IO screen 24 tree.

  Although details will be described later, the control unit 41 sets a link button that enables switching of the screen display between two unit screens that satisfy a predetermined condition regardless of whether or not they are adjacent on the tree. Each can be generated. The link input unit 44 receives a touch operation on the link button for switching the display screen displayed on the display unit 12 as described above.

  The control unit 41 transmits information related to setting of various functions and parameters to the controller 3 via the communication I / F 46 in accordance with the operation received by the function setting input unit 42. The control unit 41 switches the display screen of the display unit 12 to a predetermined unit screen in accordance with an operation received by the screen switching input unit 43 and the link input unit 44. The storage unit 45 corresponds to an operation history screen storage unit and a specific screen pattern storage unit in the present invention, and stores an operation history screen, a specific screen pattern, and the like described later.

  Next, operations accepted by the function setting input unit 42 and the screen switching input unit 43 will be described based on examples shown in FIGS. FIG. 4 shows the teaching pendant 4 with the top screen 21 displayed. The teaching pendant 4 is provided with a jog dial 51 that can be rotated and various keys (such as a cancel button 52) that can be pressed as the key switch 13. On the top screen 21, a program button 53, an arm button 54, an I / O button 55, and the like formed as touch buttons that can be touch-operated are displayed. The program button 53, arm button 54, and I / O button 55 are for switching the display screen to a program selection screen 22, a robot screen 23, and a variable / IO screen 24 that are unit screens below the top screen 21. . Therefore, touch operations on the program button 53, the arm button 54, and the I / O button 55 on the top screen 21 correspond to operations accepted by the screen switching input unit 43.

  FIG. 5 shows the teaching pendant 4 with the I-type variable screen 32 displayed. On the I-type variable screen 32, variables whose values can be confirmed are sequentially switched according to the rotation operation of the jog dial 51. Therefore, on the I-type variable screen 32, the rotation operation of the jog dial 51 corresponds to the operation accepted by the function setting input unit 42. On the other hand, in the I-type variable screen 32, when the cancel button 52 is pressed, the screen leaves the screen (returns to the unit screen displayed immediately before). Therefore, on the I-type variable screen 32, the pressing operation of the cancel button 52 corresponds to the operation that the screen switching input unit 43 receives.

FIG. 6 shows the teaching pendant 4 in a state where the IO screen 31 is displayed. On the IO screen 31, the number and name of each I / O are displayed in a state having a touch-operable area. On the IO screen 31, each I / O area is touch-operated so that it can be turned on / off. Therefore, on the IO screen 31, the touch operation on each I / O area corresponds to the operation accepted by the function setting input unit 42. The IO screen 31 displays an ON / OFF button 56 formed as a touch button that can be touched. The ON / OFF button 56 is for switching ON / OFF of the selected I / O. Accordingly, the touch operation on the ON / OFF button 56 on the IO screen 31 corresponds to the operation accepted by the function setting input unit 42.
As described above, the screen switching input unit 43 receives an operation related to switching of the display screen displayed on the display unit 12, and the function setting input unit 42 receives an operation other than the operation related to switching of the display screen.

Subsequently, of the control performed by the control unit 41, the contents of the control according to the present invention will be described with reference to the flowcharts of FIGS.
In the control unit 41, the screen switching input unit 43 receives an operation to display a predetermined unit screen on the display unit 12, and then the screen switching input unit 43 receives the operation again to switch the display screen to another unit screen. The control of the content shown in FIG. That is, when a predetermined unit screen is displayed on the display unit 12, it is determined whether or not the function setting input unit 42 has accepted an operation on the unit screen (step A1). If the function setting input unit 42 has never received an operation during the above period ("NO" in step A1), the control is terminated without doing anything. On the other hand, if the function setting input unit 42 has received an operation even once during the above period (“YES” in step A1), the displayed unit screen is stored in the storage unit 45 as an operation history screen (step A2). End control.

  When the operation history screen is stored in the storage unit 45, the control unit 41 executes the control of the contents shown in FIG. That is, it is determined whether another operation history screen is already stored in the storage unit 45 (step B1). If another operation history screen is not stored in the storage unit 45 (“NO” in step B1), the control is terminated without doing anything. On the other hand, when another operation history screen is stored in the storage unit 45 (“YES” in step B1), a unit screen corresponding to the operation history screen stored this time and a unit screen corresponding to the operation history screen stored last time Is stored in the storage unit 45 (step B2), and the control is terminated.

  This specific screen pattern is a combination of unit screens stored this time and the previous time (in no particular order) regardless of their storage order. For example, when the unit screen stored this time is a and the unit screen stored last time is b, “combination of unit screen a and unit screen b (a, b)” is obtained. When the unit screen stored this time is b and the unit screen stored last time is a, the content is “combination of unit screen b and unit screen a (b, a)”. As described above, since the specific screen pattern is a combination of two unit screens in no particular order, the specific screen pattern (a, b) and the specific screen pattern (b, a) are combinations of the same unit screen. It turns out that.

  When the control unit 41 stores the specific screen pattern in the storage unit 45, the control unit 41 executes the control of the contents shown in FIG. That is, it counts how many specific screen patterns having the same unit screen combination as the specific screen pattern stored this time including the current stored screen (step C1). Then, it is determined whether or not the count value is equal to or greater than a predetermined value (2 in the present embodiment) (step C2). If the count value is less than 2 (predetermined value) (“NO” in step C2), the control is terminated without doing anything. On the other hand, when the count value is 2 (predetermined value) or more (“YES” in step C2), the above-described link generation control for generating the link button is executed (step C3), and the control is terminated.

  FIG. 10 shows the contents of the link generation control in step C3. As shown in FIG. 10, in the link generation control, first, the user is inquired as to whether or not link button generation is necessary (step D1). As this inquiry method, for example, as shown in FIG. 11, a window 61 (corresponding to link generation confirmation input means) for confirming whether or not to generate a link on the unit screen currently displayed on the display unit 12 is displayed. Is displayed. When the user performs an operation for generating a link, that is, when the OK button 62 provided in the window 61 so as to be capable of being touched is touched (“YES” in step D1), the link is generated. Then, a link button is provided in each of the two unit screens that are the targets of link generation (step D2), and the control is terminated.

  On the other hand, when the user performs an operation not to generate a link, that is, when the CANCEL button 63 provided in the window 61 so as to be touch-operable is touched (“NO” in step D1), the link is generated. Judge not to. When the link is not generated, the specific screen pattern for which the link is generated is deleted from the storage unit 45, the count value is cleared (step D3), and the control is terminated.

Next, the operation of the above configuration will be described.
FIG. 12 shows an example of the transition state of the unit screen when a predetermined setting operation is performed. In the setting operation shown in FIG. 12, after setting the values of variables and IO, the robot 2 is operated based on a predetermined operation program, and it is confirmed whether or not each of the set values is optimal. It should be noted that the user repeats this series of setting operations until the variable and IO setting values are optimized.

  When this setting operation is performed, the unit screen displayed on the display unit 12 is No. 1 shown in FIG. 1-No. It will be switched in the order of 14. If a series of operations are repeated, No. No. 14 after No. 14. It will return to 1. First, on the robot screen 23, an operation for moving the robot 2 to the origin is performed. This operation is an operation (operation related to function setting) accepted by the function setting input unit 42. For this reason, the robot screen 23 is stored as an operation history screen. Then, the display screen is switched from the robot screen 23 to the I-type variable screen 32 in this order via the top screen 21, the variable / IO screen 24, and the variable selection screen 30. During this time, since the operation accepted by the function setting input unit 42 is not performed, a new operation history screen is not stored.

  On the I-type variable screen 32, for example, an operation for changing the value of the variable I [2] is performed. This operation is an operation accepted by the function setting input unit 42. For this reason, the I-type variable screen 32 is stored as the operation history screen. At this time, the operation history screen is newly stored in a state where the operation history screen is already stored in the storage unit 45. Therefore, the combination of the I-type variable screen 32 stored this time and the robot screen 23 stored last time is stored as the specific screen pattern P1. At this time, since there is only one specific screen pattern P1 in the storage unit 45, link generation control is not executed.

  Thereafter, the display screen is switched from the I-type variable screen 32 to the IO screen 31 via the variable selection screen 30 and the variable / IO screen 24 in this order. During this time, since the operation accepted by the function setting input unit 42 is not performed, a new operation history screen is not stored. On the IO screen 31, for example, an operation for changing the value of IO [4] is performed. This operation is an operation accepted by the function setting input unit 42. For this reason, the IO screen 31 is stored as an operation history screen. Further, the combination of the IO screen 31 stored this time and the I-type variable screen 32 stored last time is stored as the specific screen pattern P2. At this time, since there is only one specific screen pattern P2 in the storage unit 45, link generation control is not executed.

  Thereafter, the display screen is switched from the IO screen 31 to the program selection screen 22 via the variable / IO screen 24 and the top screen 21 in this order. During this time, since the operation accepted by the function setting input unit 42 is not performed, a new operation history screen is not stored. On the program selection screen 22, for example, an operation for selecting the operation program PRO1 is performed. This operation is an operation accepted by the function setting input unit 42. For this reason, the program selection screen 22 is stored as an operation history screen. Further, a combination of the program selection screen 22 stored this time and the IO screen 31 stored last time is stored as a specific screen pattern P3. At this time, since there is only one specific screen pattern P3 in the storage unit 45, link generation control is not executed.

  Thereafter, the display screen is switched from the program selection screen 22 to the program activation screen 26. On the program activation screen 26, an operation for activating the selected program PRO1 is performed. This operation is an operation accepted by the function setting input unit 42. For this reason, the program start screen 26 is stored as an operation history screen. Further, the combination of the program start screen 26 stored this time and the program selection screen 22 stored last time is stored as a specific screen pattern P4. At this time, since there is only one specific screen pattern P4 in the storage unit 45, link generation control is not executed. Thereafter, the display screen is switched from the program start screen 26 to the top screen 21 via the program selection screen 22 in this order.

  As a result of operating the robot 2 and confirming the operation in this way, it is confirmed whether or not the values of the set variables I [2] and IO [4] are optimal. finish. On the other hand, if it is not optimal, the series of setting operations described above are repeatedly executed. In this case, the display screen is switched from the top screen 21 to the robot screen 23, and the series of operations described above is executed again.

  In the second series of setting operations, if an operation for moving the robot 2 to the origin is performed on the robot screen 23, the robot screen 23 stored as the current operation history screen and the program stored as the previous operation history screen are displayed. A combination with the startup screen 26 is stored as a specific screen pattern P5. At this time, since there is only one specific screen pattern P5 in the storage unit 45, link generation control is not executed.

  In the second series of setting operations, if an operation for changing the value of the variable I [2], for example, is performed on the I-type variable screen 32, the combination of the I-type variable screen 32 and the robot screen 23 is changed. The specific screen pattern P1 is stored again. As a result, two specific screen patterns P1 are stored. Accordingly, link generation control is executed for the I-type variable screen 32 and the robot screen 23. In this link generation control, when an operation for generating a link is performed, link buttons are generated on both the I-type variable screen 32 and the robot screen 23.

  In the second series of setting operations, if an operation for changing the value of IO [4], for example, is performed on the IO screen 31, a specific screen pattern of a combination of the IO screen 31 and the I-type variable screen 32 is displayed. P2 is stored again. As a result, two specific screen patterns P2 are stored. Accordingly, link generation control is executed for the IO screen 31 and the I-type variable screen 32. In this link generation control, when an operation for generating a link is performed, link buttons are generated on both the IO screen 31 and the I-type variable screen 32.

  In the second series of setting operations, if an operation for selecting the program PRO1, for example, is performed on the program selection screen 22, the specific screen pattern P3 of the combination of the program selection screen 22 and the IO screen 31 is stored again. Is done. As a result, two specific screen patterns P3 are stored. Accordingly, link generation control is executed for the program selection screen 22 and the IO screen 31. In this link generation control, when an operation for generating a link is performed, a link button is generated on both the program selection screen 22 and the IO screen 31.

  Further, in the second series of setting operations, for example, when an operation for starting the program PRO1 is performed on the program startup screen 26, the specific screen pattern P4 of the combination of the program startup screen 26 and the program selection screen 22 is again displayed. Remembered. As a result, two specific screen patterns P4 are stored. Accordingly, link generation control is executed for the program start screen 26 and the program selection screen 22. In this link generation control, when an operation for generating a link is performed, link buttons are generated on both the program startup screen 26 and the program selection screen 22.

  After performing the second series of setting operations in this way, if the set values of the variables I [2] and IO [4] are not optimal, the above-described series of operations are repeated again. become. In the third series of setting operations, when an operation for moving the robot 2 to the origin is performed on the robot screen 23, the specific screen pattern P5 of the combination of the robot screen 23 and the program start screen 26 is stored again. The As a result, two specific screen patterns P5 are stored. Accordingly, link generation control is executed for the robot screen 23 and the program start screen 26. In this link generation control, when an operation for generating a link is performed, link buttons are generated on both the robot screen 23 and the program start screen 26.

  13 to 17 respectively show the robot screen 23, the I-type variable screen 32, the IO screen 31, the program selection screen 22, and the program start screen 26 in a state where the link button is generated in the setting operation. As shown in FIG. 13, a link button L <b> 1 for switching the display screen to the I-type variable screen 32 is provided on the lower right side of the robot screen 23. A link button L2 for switching the display screen to the program start screen 26 is provided on the left side of the lower portion of the robot screen 23.

  As shown in FIG. 14, a link button L <b> 3 for switching the display screen to the IO screen 31 is provided on the right side at the bottom of the I-type variable screen 32. A link button L4 for switching the display screen to the robot screen 23 is provided on the left side of the lower part of the I-type variable screen 32. As shown in FIG. 15, a link button L <b> 5 for switching the display screen to the program selection screen 22 is provided on the lower right side of the IO screen 31. A link button L6 for switching the display screen to the I-type variable screen 32 is provided on the left side of the lower portion of the IO screen 31.

  As shown in FIG. 16, a link button L <b> 7 for switching the display screen to the program activation screen 26 is provided on the lower right side of the program selection screen 22. Further, a link button L8 for switching the display screen to the IO screen 31 is provided on the left side of the lower portion of the program selection screen 22. As shown in FIG. 17, a link button L <b> 9 for switching the display screen to the robot screen 23 is provided on the right side at the bottom of the program start screen 26. A link button L10 for switching the display screen to the program selection screen 22 is provided on the left side of the lower portion of the program start screen 26.

  Each of the link buttons L1 to L10 (corresponding to link input means) is formed as an elliptical touch button that can be touch-operated. Characters representing the link destinations are added to the link buttons L1 to L10. It should be noted that the characters representing the link destination can be appropriately changed or not added. Further, in the above example, only two link buttons are provided for each unit screen, but it is possible to provide up to the number that can be displayed on the unit screen (for example, 10 in this embodiment). . Then, after the maximum number of link buttons is provided, the oldest ones are sequentially deleted. Note that after the maximum number of link buttons are provided, the link buttons may be deleted sequentially from the least frequently used one.

  In a state where the link buttons L1 to L10 are generated in this way, when performing a series of setting operations similar to the above, the unit screen displayed on the display unit 12 is No. 1 shown in FIG. 1-No. It will be switched in the order of 5. That is, there is no unit screen displayed only for switching the display screen, and only the unit screen on which the operation accepted by the function setting input unit 42 is performed is sequentially shifted. For this reason, compared with before link button L1-L10 is produced | generated, operation performed in order to switch a display screen will reduce significantly.

As described above, according to the present embodiment, the following effects can be obtained.
The control unit 41 sequentially stores unit screens displayed when the function setting input unit 42 receives an operation as an operation history screen, and combines the unit screen stored this time and the unit screen stored last time in any order. Is stored as a specific screen pattern. When two or more specific screen patterns of the same unit screen combination are stored, it is possible to generate a link button that enables display switching between the unit screens. That is, the control unit 41 confirms the strength of the mutual relationship for each unit screen stored as the operation history screen based on the number of stored specific screen patterns (count value), and the combination having a strong mutual relationship. Only allow link button generation.

  According to such a configuration, when a series of setting operations are performed, it is necessary to perform input operations (operations accepted by the function setting input unit 42) related to various function settings, various parameter settings, and the like. It is possible to generate a link button that enables display switching between each unit screen that requires direct display switching. For this reason, frequent switching operation of the display screen is suppressed, and the operability of the teaching pendant 4 is improved.

  In addition, based on the count value of the specific screen pattern that combines the current and previous stored operation history screens in any order, the strength of the mutual relationship between the unit screens can be determined, and link buttons between the unit screens can be generated. It has a configuration. In various functions and parameter setting operations (especially correction operations), optimal setting values are often obtained while reciprocating between unit screens to be set. In the present embodiment, it is possible to easily generate a link button that makes it possible to directly switch between unit screens by using the characteristic of setting work that needs to frequently move between predetermined unit screens in this way. . For this reason, when performing a setting operation that frequently goes back and forth between the predetermined unit screens as described above, the link button can be generated by reciprocating once between the predetermined unit screens, and the link button is generated. The effect that the period up to can be extremely shortened is obtained.

  In addition, since the link can be generated when the count value of a specific screen pattern of the same unit screen combination is 2 or more, a link button is generated while the mutual relationship between the unit screens is weak. Never happen. That is, there is no possibility that link buttons will be generated more than necessary. Further, after the link button can be generated, a window 61 for confirming whether or not the link button is necessary is displayed. For this reason, the user can selectively generate only the link buttons determined to be necessary by the user.

  When a predetermined setting operation is performed a plurality of times, a link button for switching the display screen along the series of operation flows is generated on each unit screen. Therefore, when the same setting work is performed after the link button is generated, the user can perform the setting work by simply touching the link button in order without being particularly conscious of the work flow. Become. For this reason, even for a user who does not know the tree structure of the input reception screen, for example, a user who is unfamiliar with the setting work, the setting work can be easily performed in the correct procedure.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS.
The present embodiment is different from the first embodiment in the content of control performed when a specific screen pattern is stored. FIG. 19 is a view corresponding to FIG. 10 in the first embodiment. The control content of the present embodiment shown in FIG. 19 is different from the control content of the first embodiment shown in FIG. 10 in that step E1 is inserted before step C1. The present embodiment is different from the first embodiment in that the predetermined value in step C2, that is, the predetermined value as a condition for generating a link button is changed to 4.

  In step E <b> 1, the control unit 41 determines whether or not there are consecutive specific screen patterns of the same unit screen among the specific screen patterns stored in the storage unit 45. If there are no consecutive specific screen patterns of the same combination (“NO” in step E1), the control is terminated without doing anything. On the other hand, when there are consecutive specific screen patterns of the same combination (“YES” in step E1), the process proceeds to step C1.

  Next, the control content shown in FIG. 19 will be described with a specific example. FIG. 20 schematically shows an operation history screen and a specific screen pattern that are sequentially stored in the storage unit 45 when an operation is performed by reciprocating only between two predetermined unit screens. In the case shown in FIG. 20, the operation history screen is stored in the order of a (time t1) → b (time t2) → a (time t3) → b (time t4) → a (time t5). The specific screen pattern is stored in the order of [a, b] (time t2) → [b, a] (time t3) → [a, b] (time t4) → [b, a] (time t5). ing. In this case, since the specific screen pattern of the same combination does not exist continuously at time t2, “NO” is determined in the step E1, and the control is terminated without executing the step C1 and the subsequent steps.

  At the time t3 and t4, the specific screen pattern of the combination of the unit screen a and the unit screen b exists continuously. Therefore, “YES” is determined in the step E1, and the process proceeds to the step C1 and the subsequent steps. However, in this case, since there are less than four specific screen patterns, “NO” is determined in the step C2, and the link generation control in the step C3 is not executed. On the other hand, at the time t5, since the specific screen pattern exists continuously and there are four accumulated, the answer is “YES” in both steps E1 and C2, and the process proceeds to step C3. Link generation control is executed.

  FIG. 21 is a diagram corresponding to FIG. 20 illustrating a first example in which an operation on a unit screen different from these is performed while an operation is performed by reciprocating between two predetermined unit screens. In the case shown in FIG. 21, the unit screen is a (time t1) → b (time t2) → a (time t3) → c (time t4) → d (time t5) → a (time t6) → b ( They are stored in the order of time t7) → a (time t8). The specific screen pattern is [a, b] (time t2) → [b, a] (time t3) → [a, c] (time t4) → [c, d] (time t5) → [d, a] (time t6) → [a, b] (time t7) → [b, a] (time t8). Also in this case, since the same combination of specific screen patterns does not continuously exist at the time t2, “NO” is determined in the step E1.

  At the time t3, since the specific screen pattern of the combination of the unit screen a and the unit screen b exists continuously, “YES” is determined in the step E1, and the process proceeds to the step C1 and the subsequent steps. However, in this case, since there are less than four specific screen patterns, “NO” is determined in the step C2. At each time point between time t4 and time t7, since the same combination of specific screen patterns does not exist continuously, “NO” is determined in step E1. On the other hand, since the specific screen pattern of the combination of the unit screen a and the unit screen b exists continuously at time t8, “YES” is determined in the step E1. At this point in time, there are four cumulative specific screen patterns. Therefore, “YES” is determined in the step C2, the process proceeds to a step C3, and link generation control is executed.

  FIG. 22 is a diagram corresponding to FIG. 20 illustrating a second example in which an operation on a unit screen different from these is performed while an operation is performed by reciprocating between two predetermined unit screens. In the case shown in FIG. 22, the unit screen is a (time t1) → b (time t2) → a (time t3) → c (time t4) → a (time t5) → b (time t6) → a ( They are stored in the order of time t7). The specific screen pattern is [a, b] (time t2) → [b, a] (time t3) → [a, c] (time t4) → [c, a] (time t5) → [a, b] (time t6) → [b, a] (time t7). Also in this case, since the same combination of specific screen patterns does not continuously exist at the time t2, “NO” is determined in the step E1.

  At the time t3, since the specific screen pattern of the combination of the unit screen a and the unit screen b exists continuously, “YES” is determined in the step E1, and the process proceeds to the step C1 and the subsequent steps. However, in this case, since there are less than four specific screen patterns, “NO” is determined in the step C2, and the link generation control in the step C3 is not executed. At time t4, since the same combination of specific screen patterns does not exist continuously, “NO” is determined in the step E1. At time t5, since a specific screen pattern of a combination of the unit screen a and the unit screen c exists continuously, “YES” is determined in the step E1, and the process proceeds to the step C1 and subsequent steps. However, also in this case, since there are less than four specific screen patterns, “NO” is determined in the step C2.

  At the time t6, there is no continuous specific screen pattern of the same combination, so “NO” is determined in the step E1. On the other hand, since the specific screen pattern of the combination of the unit screen a and the unit screen b exists continuously at the time t7, “YES” is determined in the step E1. At this point in time, there are four cumulative specific screen patterns. Therefore, “YES” is determined in the step C2, the process proceeds to a step C3, and link generation control is executed.

  As described above, in the present embodiment, the control unit 41 determines the number of specific screen patterns in a portion where the same combination of unit screens continuously exist among the specific screen patterns stored in the storage unit 45. Count. That is, the control unit 41 counts the number only when the specific screen pattern stored at a certain time point and the specific screen pattern stored at the previous time point are the same unit screen combination. . According to such a configuration, it is possible to generate a link button that allows the display to be switched between the unit screens only when the user frequently goes back and forth between predetermined unit screens on which the operation related to the function setting is performed. This link button is required in many cases, as described above, for operations that are likely to frequently reciprocate between unit screens (for example, setting correction operations). For this reason, according to the configuration of the present embodiment, the link button can be generated only when it is inherently highly necessary to provide the link button, so that the convenience for the user can be further improved.

(Other embodiments)
The present invention is not limited to the embodiments described above and illustrated in the drawings, and the following modifications or expansions are possible.
A flag indicating whether or not to perform control related to the generation of the link button may be provided, and the flag may be configured to be switched on / off in advance by a user operation. In this way, it is possible to suppress the occurrence of a situation in which the window 61 for confirming whether or not an unnecessary link button is to be generated frequently appears when a necessary link button has already been generated.
Although the display unit 12 having a function as a touch panel is used, the display unit may not have a touch panel function. In this case, various buttons (including link buttons) displayed on the unit screen may be configured to be operable using, for example, another pointing device.

The link generation confirmation means for confirming the necessity of link generation is not limited to the window 61 shown in FIG.
The display form (shape) of the link, its arrangement, and the like are not limited to the link buttons L1 to L10 shown in FIGS.
The predetermined value as a condition for generating the link button in the first embodiment may be 3 or more. In addition, the predetermined value as a condition for generating the link button in the second embodiment may be 2 or 3, or may be 5 or more. In the second embodiment, when the predetermined value is 2, since the determination in step E1 corresponds to the determination in step C2, steps C1 and C2 can be omitted.
In each of the above embodiments, the example in which the present invention is applied to the teaching pendant 4 of the six-axis vertical articulated robot 2 has been described. However, the present invention is connected to a controller that controls the robot and is operated by an operator's operation. The present invention can be applied to all pendants that can input various information to the controller and set various functions of the robot.

  In the drawing, 2 is a robot, 3 is a controller, 4 is a teaching pendant (pendant), 12 is a display unit (display unit), 41 is a control unit (control unit, same pattern count unit, link inquiry unit), and 42 is a function setting. Input unit (function setting input unit), 43 is a screen switching input unit (screen switching input unit), 45 is a storage unit (operation history screen storage unit, specific screen pattern storage unit), and 61 is a window (link generation confirmation input unit) L1 to L10 indicate link buttons (link input means).

Claims (2)

A pendant that is connected to a controller that controls the robot, and that allows the setting of various functions of the robot by providing information input by an operator's operation to the controller,
Display means for displaying an input acceptance screen for accepting an operator's input operation;
Control means for controlling the operation relating to the display means,
The input reception screen is divided into a plurality of unit screens having a tree structure and displayed.
The unit screen includes a function setting input unit that receives an operation related to setting of a function displayed on the screen among the various functions of the robot, and another unit screen adjacent to the display screen displayed on the display unit on the tree. Screen switching input means for accepting an operation to switch to
When the function setting input unit accepts an operation, the control unit outputs information related to a function setting corresponding to the accepted operation to the controller, and when the screen switching input unit accepts the operation, the control unit accepts the display screen. Switch to the unit screen corresponding to the operation,
When the function setting input unit accepts an operation after the predetermined unit screen is displayed on the display unit until the unit unit is switched to another unit screen, the displayed unit screen is displayed as an operation history screen. Operation history screen storage means for sequentially storing as:
When an operation history screen is newly stored in the state where the operation history screen is stored in the operation history screen storage means, the unit screen corresponding to the operation history screen stored this time and the operation stored last time are stored. Specific screen pattern storage means for sequentially storing the unit screens corresponding to history screens as specific screen patterns combined in any order;
Among the specific screen patterns stored in the specific screen pattern storage means, the same pattern counting means for counting the same combination of unit screens;
When the count value of the same pattern counting means reaches a predetermined value of 2 or more, an operation for confirming whether or not the screen display can be switched between the two unit screens included in the specific screen pattern Link inquiry means for causing the display means to display a link generation confirmation input means for receiving
The control means includes
When the link generation confirmation input means accepts an operation for generating a link, an operation for switching the display screen displayed on the display means to the other unit screen on each of the two unit screens to be linked is generated. Providing a link input means for receiving, clearing the count value that is the target of link generation out of the count value of the same pattern counting means when receiving an operation that the link generation confirmation input means does not generate a link;
When the link input means accepts an operation, the pendant switches to the unit screen corresponding to the operation accepting the display screen. The same pattern counting means includes
Counting the number of specific screen patterns of the combination of unit screens in a portion where the same combination of unit screens continuously exists among the specific screen patterns stored in the specific screen pattern storage means. The pendant according to claim 1.

Images