JP4613752B2 - Robot and robot information display method - Google Patents

Description

  The present invention relates to a robot such as an industrial robot and a method for displaying information relating to the operation of the robot.

Conventionally, a robot in which an end effector is provided at the tip of a robot arm having a plurality of joints is known. Such robots are widely used in production sites as so-called industrial robots.
Many of the above robots are so-called teaching reproduction type robots in which an operator teaches a robot an operation related to a predetermined operation and the robot reproduces an operation related to the operation. A robot (a robot having a visual recognition function) that visually recognizes the posture, shape, etc., and corrects the motion is also used. For example, as described in Patent Document 1.

Compared with a robot that does not have a visual recognition function, the robot described in Patent Document 1 is (1) because the robot recognizes the position and orientation of the workpiece, and appropriately corrects its operation to perform the work. It is not necessary to accurately set the workpiece at a predetermined position and in a predetermined posture each time, and the work man-hours and labor can be reduced. (2) The workpiece does not have a predetermined shape (the workpiece is deformed or It is possible to detect abnormalities such as broken or different types of workpieces) with the visual recognition function, and it is excellent in that various troubles can be prevented. .
JP 2004-351570 A

  However, the robot described in Patent Document 1 has the following problems.

In general, a program related to the operation of the robot stored in the control device, more precisely, the operation of the robot arm is created in a predetermined language (hereinafter referred to as “program language”), and therefore is complicated and long. Become. In the case of a robot having a visual recognition function, since the contents related to visual recognition are combined, the program related to the operation of the robot arm is further complicated.
In the case of a conventional robot, an operator displays the program (expressed in a program language) on a display device (liquid crystal panel, etc.) provided on a terminal called a teach pendant connected to the control device by wire or wirelessly. The robot is taught by modifying the program directly, but the teach pendant is generally used by an operator located in the vicinity of the robot arm. The area of the display screen of the display device is also limited.
Therefore, in general, not all of the above programs can be displayed on the display screen at the same time. If you want to display a part of the program on the display screen of the display device and display other parts, the display screen can be moved up and down or left and right. It is configured to scroll.

Therefore, it is difficult for the operator to grasp which part of the program displayed on the display device corresponds to the robot operation and which part corresponds to the visual recognition, and the man-hour related to the teaching work increases. This was a factor in complicating teaching work.
Further, in the above program, when the part related to the operation of the robot arm and the part related to visual recognition are present apart from each other in a plurality of locations of the program, both of them are simultaneously displayed on the screen of the display device. This makes it difficult for the operator to grasp the relationship between the two, and the teaching work has become increasingly complicated.
Further, in the case of a conventional robot, a program related to the operation of the robot arm is corrected by directly writing a new program in the program language on the program displayed on the display device. However, if you want to restore the program to its original state for various reasons (for example, interference between surrounding structures and the robot arm) It was difficult to grasp whether there was any, and this also increased the number of man-hours related to the teaching work and made the teaching work complicated.
Furthermore, since the program related to the operation of the robot arm is a complicated and long program composed of a predetermined language, the operation of the robot has a plurality of steps, and the operation of the robot is caused by some trouble in the middle of the plurality of steps. When the operation is stopped, it is difficult for the worker to grasp at which step the robot operation has been stopped, which causes an increase in man-hours related to teaching work and complicating teaching work.

  In view of the situation as described above, the present invention makes it easy to grasp the operation state of the robot (more precisely, the operation state of the robot arm and the visual recognition device) and has excellent workability during teaching work. An information display method is provided.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

That is, in claim 1,
A robot arm having a plurality of joints and provided with an end effector at the tip;
A visual recognition device comprising: an imaging means for imaging a workpiece; and a workpiece position information calculating means for calculating workpiece position information based on an image of the workpiece imaged by the imaging means;
A control device for controlling the operation of the robot arm based on a preset program related to the operation of the robot arm and the position information of the workpiece acquired from the visual recognition device;
A display device for displaying the position information of the robot arm in a time-series manner with line breaks up and down , and a parameter for the visual recognition device to acquire the position information of the work attached to the position information of the robot arm; ,
Equipped with,
The control device includes:
The robot arm position information at the time of teaching, the position information of the robot arm at the time of reproduction, and the position information of the workpiece at the time of teaching stored in a predetermined storage area of the control device in accordance with a program related to the operation of the robot arm set in advance. Based on the position information of the workpiece at the time of reproduction and the position information of the robot arm to which the correction process at the time of reproduction is applied, the correction amount of the movement of the robot arm at the time of reproduction is calculated, and the calculated movement amount of the robot arm at the time of reproduction is calculated. Based on the correction amount, correct the movement amount of the robot arm during playback, operate the robot arm by the corrected movement amount,
The control device includes:
A correction processing start marker is displayed at a position between the lines of the position information of the robot arm displayed on the display device with line breaks up and down, and between the lines of the position information of the robot arm and more than the correction processing start marker. By displaying a correction process end marker at a lower position, a portion sandwiched between the correction process start marker and the correction process end marker in the position information of the robot arm is set as a predetermined range of the position information of the robot arm. The correction process is applied at the time of reproducing the robot arm motion corresponding to the position information of the robot arm specified and specified as the predetermined range .

In claim 2 ,
The position information of the robot arm displayed by the display device is
It includes at least one of information related to the robot arm motion classification, the robot arm motion accuracy, the robot arm motion speed, the output signal during the robot arm motion, and the input signal during the robot arm motion.

In claim 3 ,
Parameters for the visual recognition device to display the position information of the workpiece displayed by the display device,
It includes at least one of information relating to the classification of the visual recognition method, the classification of the imaging means, the work number, and the imaging part of the work.

In claim 4 ,
The display device
The position information of the robot arm corresponding to the movement of the robot arm at the time of reproduction is displayed inverted, blinking, displayed in a different color, or displayed with a predetermined mark. .

In claim 5 ,
A robot arm having a plurality of joints and provided with an end effector at the tip;
A visual recognition device comprising: an imaging means for imaging a workpiece; and a workpiece position information calculating means for calculating workpiece position information based on an image of the workpiece imaged by the imaging means;
A control device for controlling the operation of the robot arm based on a preset program related to the operation of the robot arm and the position information of the workpiece acquired from the visual recognition device;
A display device for displaying information related to the operation of the robot arm;
An information display method for a robot comprising:
The display device,
The position information of the robot arm is displayed in chronological order with line breaks up and down , and the parameters for the visual recognition device to acquire the position information of the work are displayed along with the position information of the robot arm ,
The control device includes:
The robot arm position information at the time of teaching, the position information of the robot arm at the time of reproduction, and the position information of the workpiece at the time of teaching stored in a predetermined storage area of the control device in accordance with a program related to the operation of the robot arm set in advance. Based on the position information of the workpiece at the time of reproduction and the position information of the robot arm to which the correction process at the time of reproduction is applied, the correction amount of the movement of the robot arm at the time of reproduction is calculated, and the calculated movement amount of the robot arm at the time of reproduction is calculated. Based on the correction amount, correct the movement amount of the robot arm during playback, operate the robot arm by the corrected movement amount,
The control device includes:
A correction processing start marker is displayed at a position between the lines of the position information of the robot arm displayed on the display device with line breaks up and down, and between the lines of the position information of the robot arm and more than the correction processing start marker. By displaying a correction process end marker at a lower position, a portion sandwiched between the correction process start marker and the correction process end marker in the position information of the robot arm is set as a predetermined range of the position information of the robot arm. The correction process is applied at the time of reproducing the robot arm motion corresponding to the position information of the robot arm specified and specified as the predetermined range .

In claim 6 ,
The position information of the robot arm displayed by the display device is
It includes at least one of information related to the robot arm motion classification, the robot arm motion accuracy, the robot arm motion speed, the output signal during the robot arm motion, and the input signal during the robot arm motion.

In claim 7 ,
Parameters for the visual recognition device to display the position information of the workpiece displayed by the display device,
It includes at least one of information relating to the classification of the visual recognition method, the classification of the imaging means, the work number, and the imaging part of the work.

In claim 8 ,
The display device
The position information of the robot arm corresponding to the movement of the robot arm at the time of reproduction is displayed inverted, blinking, displayed in a different color, or displayed with a predetermined mark. .

  As effects of the present invention, the following effects can be obtained.

According to the first aspect, it is easy to grasp the operation state of the robot, and the workability at the time of teaching work is excellent.
More specifically, the robot arm position information displayed on the display device is not directly corrected during the robot arm teaching operation without directly modifying the program related to the operation of the robot arm created in a predetermined program language. By simply designating the part on the screen, it is possible to easily designate that the correction process is applied to the action corresponding to the designated part of the series of actions of the robot arm.
Also, it is possible to easily calculate the correction amount of the robot arm during reproduction.
In addition, by storing information for calculating the correction amount of the robot arm in a predetermined storage area, it is possible to flexibly cope with re-correction and restoration of the program related to the operation of the robot arm. .
In addition, the operator can easily grasp which operation is within the application range of the correction process among the series of operations of the robot arm.

According to the second aspect , it is possible to easily grasp the operation state and contents of the robot arm.

According to the third aspect , it is possible to easily grasp the timing and contents of the visual recognition process.

According to the fourth aspect of the present invention, it is possible to easily grasp the operation point at the time of reproduction of the robot arm.
In addition, when some trouble occurs in the robot and the robot arm stops at a position other than the predetermined stationary position, the robot arm is always checked by observing which position information displayed on the device is reversed. It is possible to easily grasp in which process of the series of operations the operation is stopped, and the workability of the teaching work is improved.

According to the fifth aspect of the present invention, it is easy to grasp the operation status of the robot, and the workability at the time of teaching work is excellent.
More specifically, the robot arm position information displayed on the display device is not directly corrected during the robot arm teaching operation without directly modifying the program related to the operation of the robot arm created in a predetermined program language. By simply designating the part on the screen, it is possible to easily designate that the correction process is applied to the action corresponding to the designated part of the series of actions of the robot arm.
Also, it is possible to easily calculate the correction amount of the robot arm during reproduction.
In addition, by storing information for calculating the correction amount of the robot arm in a predetermined storage area, it is possible to flexibly cope with re-correction and restoration of the program related to the operation of the robot arm. .
In addition, the operator can easily grasp which operation is within the application range of the correction process among the series of operations of the robot arm.

According to the sixth aspect , it is possible to easily grasp the operation status and contents of the robot arm.

According to the seventh aspect , it is possible to easily grasp the timing and contents of the visual recognition process.

According to the eighth aspect of the present invention, it is possible to easily grasp the operation point at the time of reproduction of the robot arm.
In addition, when some trouble occurs in the robot and the robot arm stops at a position other than the predetermined stationary position, the robot arm is always checked by observing which position information displayed on the device is reversed. It is possible to easily grasp in which process of the series of operations the operation is stopped, and the workability of the teaching work is improved.

Below, the robot 1 which is one Embodiment of the robot which concerns on this invention using FIG. 1 is demonstrated.
The robot 1 according to the present embodiment grips and transfers the workpiece 11 placed on the take-out work table 12 and places it on the attachment work table 13.
Here, “robot” in the present application widely includes industrial robots (sequence robot, playback robot, numerical control robot, intelligent robot, etc.) defined in JIS B0134, and further includes robots that handle workpieces.
Here, “work” in the present application refers to an object to be handled by the robot, and “handling the work” means that the work is gripped, transferred, processed, welded, painted, etc. Widely includes acting.

  The robot 1 mainly includes a robot arm 2, a visual recognition device 3, a controller 4, a teach pendant 5, and the like.

Hereinafter, the robot arm 2 will be described with reference to FIG.
The robot arm 2 is an embodiment of the robot arm according to the present invention, and mainly includes a fixing member 21, a main body 22, a first arm member 23, a second arm member 24, a third arm member 25, a fourth arm member 26, A fifth arm member 27 and the like are provided.

The fixing member 21 is a structure that forms the lowermost part of the robot arm 2 and is fixed to the ground.
Although the robot arm 2 of the present embodiment is fixed to the ground, the robot arm according to the present invention is not limited to this, and may be configured to be movable with respect to the ground.

  The main body 22 is a main structure of the robot arm 2, and a base portion of the main body 22 is pivotally connected to the upper surface of the fixing member 21.

The first arm member 23 is a rod-shaped member, and one end (base portion) of the first arm member 23 is pivotally attached to the main body 22.
The second arm member 24 is a rod-shaped member, and one end (base portion) of the second arm member 24 is pivotally attached to the other end (tip portion) of the first arm member 23.
The third arm member 25 is a rod-shaped member, and one end (base portion) of the third arm member 25 is pivotably connected to the other end (tip portion) of the second arm member 24. That is, the longitudinal direction of the third arm member 25 and the longitudinal direction of the second arm member 24 are substantially in a straight line, and the third arm member 25 is centered on a rotation axis that substantially coincides with the longitudinal direction of the second arm member 24. As rotatable.
The fourth arm member 26 is a short rod-like member, and one end (base portion) of the fourth arm member 26 is pivotally attached to the other end (tip portion) of the third arm member 25.
The fifth arm member 27 is a short rod-like member, and one end (base portion) of the fifth arm member 27 is pivotally connected to the other end (tip portion) of the fourth arm member 26. That is, the longitudinal direction of the fifth arm member 27 and the longitudinal direction of the fourth arm member 26 are substantially in a straight line, and the fifth arm member 27 is centered on a rotation axis that substantially matches the longitudinal direction with respect to the fourth arm member 26. As rotatable.

  As described above, the robot arm 2 includes a connecting portion between the fixing member 21 and the main body 22, a pivoting portion between the main body 22 and the first arm member 23, and a pivoting portion between the first arm member 23 and the second arm member 24. A connecting portion between the second arm member 24 and the third arm member 25, a pivoting portion between the third arm member 25 and the fourth arm member 26, and a connecting portion between the fourth arm member 26 and the fifth arm member 27. Have a total of six joints.

  The robot arm 2 includes actuators (motors, hydraulic cylinders, etc.) for rotating or turning the members constituting the robot arm 2 at each joint, and detects the turning angle or turning angle of each joint. Angle detecting means (an angle sensor such as a rotary encoder).

  Although the robot arm 2 of the present embodiment has a total of six joints, the robot arm according to the present invention is widely applicable to robot arms having two or more places, that is, a plurality of joints.

A hand 28 is provided at the tip of the robot arm 2, that is, the tip of the fifth arm member 27. The hand 28 is an embodiment of an end effector according to the present application, and grips a workpiece that is a target to be handled by the robot arm 2.
Here, the “end effector (hand effector)” according to the present invention imparts some action (gripping, transferring, processing, welding, painting, etc.) to the workpiece. Other embodiments of the end effector according to the present invention include a grinder that polishes the surface of the workpiece, a torch that welds the workpiece, a coating gun that sprays paint on the workpiece, and the like.
The robot arm 2 of this embodiment is configured to fix the hand 28 to the tip of the fifth arm member 27. However, the robot arm according to the present invention is not limited to this, and multiple types of end effectors can be attached and detached. It is good also as a structure which uses properly by doing.

Below, the visual recognition apparatus 3 is demonstrated using FIG.
The visual recognition device 3 is an embodiment of the visual recognition device according to the present invention, and performs visual recognition processing.
Here, “perform visual recognition processing” in the present application broadly refers to recognizing the position of the workpiece or the relative positional relationship between the robot arm and the workpiece based on visual information.

  The visual recognition device 3 mainly includes a first fixed camera 31, a second fixed camera 32, a robot arm side camera 33, a visual information processing device 34, and the like.

The first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33 are all embodiments of the imaging means according to the present invention, and visual information of the workpiece 11 is obtained by imaging the workpiece 11. To get.
The first fixed camera 31 is fixed at a predetermined position, and images the work 11 placed on the take-out work table 12. The second fixed camera 32 is fixed at a predetermined position, and images the workpiece 11 transferred by the robot 1 and placed on the attachment work table 13. The robot arm side camera 33 is fixed to the fifth arm member 27 of the robot arm 2 and images the workpiece 11. The workpiece 11 picked up by the robot arm side camera 33 is either (1) whether or not it is gripped by the hand 28, or (2) the workpiece 11 is placed on the takeout-side workbench 12 or the attachment-side workbench 13. Whether it is in a state of being transferred or being transferred by the robot arm 2.

Specific examples of the image pickup means according to the present invention generally include a camera using visible light such as a CCD camera or a CMOS camera. However, the imaging means is not limited to the one using visible light, and visible such as an infrared camera. A camera using light having a wavelength different from that of light may be used.
Further, the number of image pickup means of the present embodiment is three in total, that is, the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33. However, the present invention is not limited to this. Is appropriately selected according to the operation and work performed by the robot arm.

The visual information processing device 34 is an embodiment of the workpiece position information calculating means according to the present invention, and is based on the image of the workpiece 11 captured by the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33. Thus, by calculating the position information of the workpiece 11, the position of the workpiece 11 or the relative positional relationship between the robot arm 2 and the workpiece 11 is recognized. The visual information processing device 34 is connected to the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33.
Here, in the “application position information” in the present application, not only the information on the existence position in the three-dimensional space, that is, information on the three-dimensional coordinates of the work, but also information on the posture of the work, or a specific part of the work (for example, Information on the position of the hole formed in the workpiece may be included.
Therefore, “calculating workpiece position information” in this application includes measuring the posture of the workpiece, confirming (recognizing) the type of workpiece, and confirming whether the workpiece exists at a predetermined position. (Recognition), checking the accuracy of the workpiece, and the like are included. Further, “workpiece accuracy” includes the dimensional accuracy (shape) of the workpiece itself and the position accuracy when the workpiece is placed at a desired position.

Hereinafter, the controller 4 will be described with reference to FIG.
The controller 4 is an embodiment of the control device according to the present invention, and the operation of the robot arm 2 based on a preset program related to the operation of the robot arm 2 and the position information of the workpiece 11 acquired from the visual recognition device 3. Is to control.

The controller 4 includes storage means for storing a program related to the operation of the robot arm 2, expansion means for expanding the program, calculation means for performing a predetermined calculation according to the program, storage means for storing calculation results, and the like. It has.
More specifically, the controller 4 may be configured such that a CPU, a ROM, a RAM, an HDD, and the like are connected by a bus, or may be configured by a one-chip LSI or the like.
Although the controller 4 of this embodiment is a dedicated product, it can also be achieved using a commercially available personal computer or workstation.

  The controller 4 is connected to angle detection means (not shown) provided in the robot arm 2, and can acquire information related to the rotation angle or turning angle of each joint of the robot arm 2 detected by the angle detection means. It is.

The controller 4 is connected to an actuator group (such as a motor) provided in the robot arm 2 and can drive the robot arm 2 to perform various operations by driving the actuator group. Further, the controller 4 can appropriately select the type of operation of the robot arm 2 according to the content of the work. Here, the types of operations of the robot arm 2 include linear operations, axis operations, circular interpolation operations, curve interpolation operations, relative value movement operations, and the like.
The “linear motion” is an operation in which the tip (hand 28) of the robot arm 2 is linearly moved between two different points (so that the movement path is linear). This is an operation to move the tip of the robot arm 2 (hand 28) so that the required time is minimized when the tip (hand 28) is moved between two different points.

  The controller 4 is connected to an actuator group (such as a motor) included in the hand 28, and can drive the hand 28 to perform various operations by driving the actuator group.

  The controller 4 is connected to the visual information processing device 34 of the visual recognition device 3 and can acquire the position information of the workpiece 11 calculated by the visual information processing device 34.

The robot 1 of this embodiment has a configuration in which one robot arm 2 is connected to one controller 4, but a plurality of robot arms are connected to one controller, and one controller is connected. Thus, it is possible to control each of the operations of the plurality of robot arms.
In the robot 1 of this embodiment, the controller 4 and the visual information processing device 34 of the visual recognition device 3 are separated from each other. However, these are integrated (the visual information performed by the visual information processing device 34 on the controller 4). A configuration for storing a program related to recognition may be adopted.

Hereinafter, the teach pendant 5 will be described with reference to FIG.
The teach pendant 5 is an embodiment of the display device according to the present invention. In the case of the present embodiment, the teach pendant 5 has a function as an input device for performing various commands to the controller 4 or correction (addition, deletion, rewriting, etc.) of a program stored in the controller 4, and the controller 4 stores it. This is a device that also has a function as a display device that displays a program and other information being used, and is used in teaching work and the like.

Here, “teaching” in the present application refers to the operation content of the robot arm (straight line) when the operator sets the robot arm in a predetermined posture, stores the posture in the control device, and further shifts from one posture to the next posture. It refers to forming a series of motions of the robot arm by repeatedly designating motions, motion methods such as motions of each axis, motion speed, motion accuracy, and the like.
Further, “reproduction” in the present application means that the robot arm reproduces a series of operations formed by the teaching work. Note that “reproduction” includes not only a case where a series of movements formed by the teaching work is faithfully reproduced, but also a series of movements formed by the teaching work based on the position information of the workpiece calculated by the visual recognition device. It also includes reproduction after correcting part or all of the operation as appropriate.

The teach pendant 5 is connected to the controller 4 by a cable, and various information can be bidirectionally communicated with the controller 4. Further, since it is assumed that the operator performs teaching work in the vicinity of the robot arm 2 with the teach pendant 5 in his / her hand, the size and weight of the teach pendant 5 are determined within a certain range.
The teach pendant 5 of the present embodiment is connected to the controller 4 by a cable (wired), but may be configured to be connected wirelessly (various information is communicated wirelessly).

The teach pendant 5 mainly includes a main body 51, an input unit 52, and a display unit 53.
The main body 51 is a main structure of the teach pendant 5, and an input unit 52 is provided at the lower part of the front surface, and a display unit 53 is provided at the upper part of the front surface.
The input unit 52 achieves a function as an input device of the teach pendant 5, and in the case of the present embodiment, is constituted by a plurality of push buttons. By operating these push buttons, it is possible to give various commands to the controller 4 or to modify (add, delete, rewrite, etc.) programs stored in the controller 4. is there.
The display unit 53 achieves the function of the teach pendant 5 as a display device. In the present embodiment, the display unit 53 is composed of a liquid crystal screen.
Note that the input unit and the display unit may be integrated by using a touch panel.

  In this embodiment, the display device is provided only on the teach pendant 5, but the controller 4 may be provided with a display device.

  1, 2, and 3, information related to the operation of the robot 1 in the display unit 53 of the teach pendant 5, more precisely, information related to the operation of the robot arm 2 and the visual recognition device 3 will be described below. A method of displaying information related to the visual recognition process will be described.

<Display method of robot arm position information>
The robot 1 according to the present embodiment not only displays a program related to the operation of the robot arm 2 stored in the controller 4 on the display unit 53 of the teach pendant 5 in the state of a predetermined program language as in the conventional robot. A series of operations of the robot arm 2 performed based on the above program can be displayed as position information 71, 72, 73, 74, 75, 76 of the robots arranged in time series as shown in FIG. Is possible.

Usually, a series of movements of the robot arm are (1) a stationary position (or passing position) of the robot arm, and (2) a transition from one stationary position (or passing position) to the next stationary position (or passing position). It is formed by combining the operation details of the robot arm (operation method such as linear operation and operation of each axis, operation speed, operation accuracy, etc.).
Here, strictly speaking, the “robot arm stationary position” refers to the position (three-dimensional coordinates) when the tip of the robot arm (part where the end effector is provided) is stationary, and the “robot arm passage position” is Strictly speaking, it indicates the position (three-dimensional coordinates) when the tip of the robot arm has passed, and is practically specified by specifying the rotation angle and turning angle of each joint of the robot arm. The
In other words, the stationary position and the passing position of the robot arm are usually three-dimensional coordinates calculated using parameters such as the rotation angle and turning angle of each joint of the robot arm and the shape of each member constituting the robot arm. Expressed in shape.
By specifying the turning angle and turning angle of each joint of the robot arm, not only the position of the tip of the robot arm is obtained, but also the posture of the robot arm (each member constituting the robot arm and the end effector) Orientation) is also specified.

In the case of the present embodiment, the position information 71, 72, 73, 74, 75, 76 of the robot displayed on the display unit 53 of the teach pendant 5 is displayed in time series.
The position information 71, 72, 73, 74, 75, and 76 of the present embodiment are (a) position number, (b) operation classification, (c) operation accuracy, and (d) operation as items to be displayed on the display unit 53, respectively. The layout includes the speed, (e) output signal, and (f) input signal, so that the operation state and contents of the robot arm 2 can be easily grasped.

(A) When the robot arm 2 has a plurality of stationary positions where the robot arm 2 temporarily stops or a plurality of passing positions through which the robot arm 2 passes between the start and end of a series of operations. The numbers are given in the order in which the robot arm 2 arrives at the plurality of stationary positions or passing positions, that is, in time series.
In the case of the present embodiment, there are a total of six stationary positions or passing positions from the start to the end of the operation of the robot arm 2, and each of these six stationary positions or passing positions is assigned a position number (1-6). Has been.

The stationary position or passing position of the robot arm 2 is not displayed in the form of the rotation angle or turning angle of each joint of the robot arm 2, but is numbered in time series in the order in which the robot arm 2 reaches the position. What is displayed is that the operator actually saw the movement of the robot arm 2 with the eyes of the operator rather than recognizing the movement of each joint of the robot arm 2 in the form of the rotation angle and the turning angle during the teaching operation. This is because the robot arm 2 is recognized in the form of “the current stationary position or passing position” depending on the position and posture of the tip of the robot arm 2 (or the hand 28).
Accordingly, if the stationary position or the passing position is displayed in time series on the display unit 53 of the teach pendant 5, the operator operates the robot arm 2 from the stationary position or the passing position and the posture of the robot arm 2 as seen with eyes. It is possible to fully grasp the situation.
In addition, by operating the operation unit 52, it is also possible to display the rotation angle and the turning angle of each joint of the robot arm 2 at a certain stationary position or passing position.

(B) The movement classification refers to the classification of the movement method of the robot arm 2 until reaching the target stationary position or passing position. In the case of the present embodiment, one of a movement method of the robot arm 2 is selected from a linear operation, each axis operation, a circular interpolation operation, a curve interpolation operation, a relative value movement operation, and the like.
Note that in the case of a robot in which the operation method of the robot arm is fixed to any one, it is not necessary to display the operation classification, so that it can be excluded from the display items.

(C) The operation accuracy is the accuracy of the rotation angle or the turning angle of each joint of the robot arm 2 when the robot arm 2 stops at the target stationary position or the passing position (that is, when the target stationary position or the passing position is reached). The allowable range of the difference between the set value of the rotation angle or turning angle of each joint and the detected value of the turning angle or turning angle of each joint by the angle detection means). In the case of the present embodiment, three ranks (1 to 3) are set in advance in descending order of operation accuracy, and any one of them is selected.
Note that in the case of a robot in which the rank of the operation accuracy of the robot arm is fixed to any one, it is not necessary to display the operation accuracy, and this can be excluded from the display items.

(D) The operation speed refers to the operation speed of the robot arm 2, that is, the rotation angular velocity or the rotation angular velocity of each joint. In the case of the present embodiment, nine ranks (1 to 9) from a low speed to a high speed are set in advance, and any one of them is selected.
Note that in the case of a robot in which the rank of the operation speed of the robot arm is fixed to any one, it is not necessary to display the operation speed, so that it can be excluded from the display items.

(E) The output signal is a signal indicating that the robot arm 2 has reached the target stationary position or passing position, and any other device (for example, another robot arm provided adjacent to the robot arm 2). In addition, it represents whether the workpiece 11 is transported and output to a transporting device or the like mounted on the take-out work table 12.
In some cases, it may not be necessary to output a signal to another device depending on the use conditions of the robot. In such a case, the output signal can be excluded from the display items.

(F) The input signal represents from which other device the input signal is acquired and then the operation is started to reach the target stationary position or passing position.
In some cases, an input signal from another device may not be required depending on the use condition of the robot. In such a case, the input signal can be excluded from the display items.

In the case of this embodiment, the position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed in time series on the display unit 53 of the teach pendant 5 is corrected (added) on the screen of the display unit 53. Delete, rewrite, etc.).
Further, the controller 4 of the robot 1 reproduces the result of correcting the position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed in time series on the display unit 53 on the screen of the display unit 53. Stores a program to be reflected in the operation of the robot arm 2 at the time, and the program related to the operation of the robot arm 2 created in a predetermined program language is corrected (added or deleted) by operating the program , Rewriting, etc.) can be obtained.
Therefore, the operator can correct the robot arm 2 displayed on the display unit 53 without directly correcting the program related to the operation of the robot arm 2 created in a predetermined program language during the teaching work of the robot arm 2. It is possible to correct the operation of the robot arm 2 by appropriately correcting the position information 71, 72, 73, 74, 75, 76 of the robot, and it is excellent in workability during teaching work (labor saving of teaching work, teaching Contributes to shortening the working time of work).

<Method for Displaying Parameters of Visual Recognition Processing by Visual Recognition Device>
As shown in FIG. 2, the parameter 81 for the visual recognition device 3 to acquire the position information of the workpiece 11, in other words, the parameter 81 for visual recognition processing by the visual recognition device 3 is displayed along with the position information 71. .
Here, “displaying the parameters of the visual recognition process attached to the position information of the robot arm” in the present application means that the relationship between the parameters of the visual recognition process and the stationary position or the passing position where the visual recognition process is performed. It means displaying in a mode that is clear on the display screen.
In the case of the present embodiment, the parameter 81 includes the position information 71 of the robot arm 2 corresponding to the stationary position or passing position (the stationary position or passing position where the position number is “1”) for performing visual recognition processing, and the next stationary position. Alternatively, by displaying the position information 72 of the robot arm 2 corresponding to the passing position (in other words, directly below the position information 71), the position information 71 of the robot arm 2 is displayed.

As shown in FIGS. 2 and 3, the parameter 81 of this embodiment includes (i) visual recognition method classification, (ii) imaging means classification, (iii) work number, (iv) as items to be displayed on the display unit 53. ) The layout includes an imaging part of the workpiece, and the timing and contents at which the visual recognition process is performed can be easily grasped.
In the case of the present embodiment, the display unit 53 includes position information 71 related to a stationary position or a passing position whose position number is “1”, which is a position where the visual recognition device 3 acquires position information of the workpiece 11, and the next stationary state. Between the position information 72 relating to the stationary position or passing position whose position number is “2”, which is the position or passing position, “FN (visual recognition method classification (major classification)) [(imaging means classification), ( Classification of visual recognition methods (minor classification)), (work number), (imaging part of work (part 1)), (imaging part of work (part 2)), (imaging part of work (part 3))]] Is displayed.

(I) The classification of the visual recognition method indicates the classification of work performed by the visual recognition device 3.
In this embodiment, the visual recognition method is further divided into a large classification and a small classification. As major classifications of visual recognition methods, workpiece posture measurement and workpiece inspection / confirmation are set in advance. In addition, small classifications of visual recognition method classifications include detailed posture measurement, confirmation of the type of workpiece, confirmation of whether the workpiece is present at a predetermined position, and confirmation of accuracy of the workpiece. Yes. In addition, the small classification of the classification of the visual recognition method of the present embodiment is further subdivided depending on whether or not the work 11 is gripped by the hand 28 at the time of imaging.
Depending on the use conditions of the robot, etc., only a specific visual recognition method may be used, and it may not be necessary to select a visual recognition method category. It is possible to remove from the target.

(Ii) The classification of imaging means refers to imaging means used when the visual recognition device 3 performs visual recognition processing. In the case of the present embodiment, numbers are assigned to the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33, and any one is selected.
If the visual recognition apparatus has only one image pickup means, it is not necessary to select the image pickup means to be used. In such a case, the image pickup means is excluded from the display items. It is possible.

(Iii) The work number indicates the type of work to be visually recognized when the robot 1 handles a plurality of different kinds of works. In the present embodiment, a different work number is set in advance for each type of work handled by the robot 1, and one of them is selected.
When the robot 1 handles one type of workpiece 11, it is not necessary to select the type of workpiece, and in such a case, the workpiece number can be excluded from the display items.

(Iv) The imaging part of the workpiece indicates which part of the workpiece imaged by the imaging means the visual recognition device 3 uses to calculate the position information of the workpiece. In the case of the present embodiment, in order to measure the posture of the work using the visual recognition device 3, position information about at least three different parts of the work is required, so that three imaging parts in the work can be selected.
Note that the number of imaging parts in the work necessary for the work performed by the visual recognition device varies depending on the content of the work performed by the visual recognition device and the shape of the work. In addition, when it is only necessary to measure a certain part of the workpiece, it is not necessary to select an imaging part in the work. In such a case, the imaging part in the work can be excluded from the display items. is there.

The controller 4 of the robot 1 according to the present embodiment makes correction (addition, deletion, rewriting, etc.) on the display screen of the parameter 81 displayed on the display unit 53 of the teach pendant 5 for visual recognition by the visual recognition device 3 during reproduction. Stores a program to be reflected, and corrects (adds or deletes) the part related to the visual recognition process in the program related to the operation of the robot arm 2 created in a predetermined program language when the program operates. , Rewriting, etc.) can be obtained.
Therefore, the operator does not directly correct the program related to the operation of the robot arm 2 created in a predetermined program language to correct the contents of the visual recognition process at the time of teaching work of the robot arm 2. It is possible to correct the contents of the visual recognition processing by the visual recognition device 3 only by correcting the parameter 81 displayed on the display unit 53 of the teach pendant 5 on the display screen, and the workability is excellent (labor saving of work). , Contribute to shortening the working time).

<Specifying / applying correction processing range>
The robot 1 of this embodiment displays a correction processing start marker 82 immediately above a predetermined range of the position information of the robot arm 2 displayed in time series on the display unit 53 of the teach pendant 5, and directly below the predetermined range. By displaying the correction processing end marker 83, a predetermined range of the position information of the robot arm 2 can be designated on the screen.
As shown in FIG. 2, in this embodiment, a correction processing start marker 82 is displayed between the position information 72 and the position information 73, and a correction processing end marker 83 is displayed between the position information 75 and the position information 76. However, this indicates that the position information 73, 74, 75 is designated as “predetermined range”.
The correction process start marker 82 and the correction process end marker 83 are displayed on the display unit 53 by operating the operation unit 52.
The correction process start marker 82 designates the time point when the correction process is started (still position or pass position), and the correction process end marker 83 designates the time point when the correction process is finished (still position or pass position). Is.
Here, the “correction processing” in the present application is based on the workpiece position information acquired by the visual recognition device, and all or part of a series of preset movements of the robot arm is changed to the posture and position of the workpiece. It means that correction is made accordingly.

The controller 4 of the robot 1 designates a predetermined range of the position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed in time series on the display unit 53 on the screen of the display unit 53. Is stored in the correction process of the robot arm 2 at the time of reproduction, and when the program operates, the predetermined range (more strictly, the robot arm included in the predetermined range The same effect as that obtained by correcting the program related to the operation of the robot arm 2 created in a predetermined program language so as to perform correction processing on the movement of the robot arm 2 between the stationary positions corresponding to the position information) It is possible to obtain.
Therefore, the operator can correct the robot arm 2 displayed on the display unit 53 without directly correcting the program related to the operation of the robot arm 2 created in a predetermined program language during the teaching work of the robot arm 2. The position information 73, 74, and 75, which is a part of the position information of the robot arm 2, is specified on the screen by sandwiching it between the correction processing start marker 82 and the correction processing end marker 83, and the position of the robot arm 2 can be It is possible to easily specify that the correction processing is applied to the operation corresponding to the information 73, 74, and 75, and the workability at the time of teaching work is excellent (labor saving of teaching work, work time related to teaching work is reduced) Contributes to shortening).
Further, the operator can easily grasp which operation is within the application range of the correction processing among the series of operations of the robot arm 2 by looking at the positions of the correction processing start marker 82 and the correction processing end marker 83. This also contributes to the improvement of workability during teaching work.

<Data storage structure related to correction processing>
The controller 4 of the robot 1 can easily calculate the correction amount of the operation of the robot arm 2 during reproduction by designating a predetermined range of the position information of the robot arm 2 displayed on the display unit 53 on the screen. Therefore, it has a data storage structure as shown in FIG.
As shown in FIG. 4, the controller 4 of the robot 1 has a stationary position or a passing position for performing visual recognition processing at the time of teaching (in this embodiment, the position number at teaching is “1” in a predetermined storage area of the storing means. Position vector A of the robot arm 2 indicating the position of the robot 11 and the position of the workpiece 11 calculated by the visual recognition processing at the time of teaching (in this embodiment, the position number of the robot arm 2 at the time of teaching is “ Position vector B indicating the position of the workpiece 11 calculated based on an image captured by the robot arm side camera 33 when the robot arm is at the stationary position or passing position of “1”, and the robot arm that is the correction processing application range at the time of teaching (In the case of this embodiment, the position number which is the last stationary position or passing position in the application range of the correction processing at the time of teaching is “5”. A position vector C indicating a stationary position or a passing position), a robot arm position vector D indicating a stationary position or a passing position for performing visual recognition processing during reproduction, and a workpiece position vector E calculated by visual recognition processing during reproduction. Stored.
Then, the controller 4 of the robot 1 calculates a position vector F indicating the correction amount of the robot arm at the time of reproduction using the following formula 1.

The controller 4 of the robot 1 of the present embodiment is attached to the position information 71, 72, 73, 74, 75, 76 of the robot arm 2 and the position information 71 of the robot arm 2 displayed in time series on the display unit 53. The robot arm 2 is reproduced by appropriately correcting the parameters 81 relating to the visual recognition processing displayed on the screen or the correction processing start marker 82 and the correction processing end marker 83 for specifying the application range of the correction processing on the screen of the display unit 53 as appropriate. Is stored in a program for reflecting the motion of the time, but information (position vectors A, B, C, D, E) necessary to calculate the correction amount of the motion of the robot arm 2 at the time of reproduction after correction is stored. ) Is stored in a predetermined storage area of the storage means of the controller 4 so that a position vector F indicating the correction amount of the robot arm at the time of reproduction can be easily obtained from these. It is possible to output.
Further, the position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed in time series on the display unit 53, and the visual recognition process displayed in addition to the position information 71 of the robot arm 2 are related. When the parameter 81 or the correction process start marker 82 and the correction process end marker 83 that specify the application range of the correction process are corrected on the screen of the display unit 53, the position vectors A, B, C, Since D and E are appropriately modified and stored, it is possible to obtain the same effect without directly modifying the program related to the operation of the robot arm 2 created in a predetermined program language, and again It is possible to flexibly cope with the correction and restoration of the data, and the workability is excellent.

<Display method of the operation point during playback>
The robot 1 of the present embodiment inverts and displays position information corresponding to the operation performed by the robot arm 2 of the teach pendant 5 (reversing black and white) during reproduction. In the case of FIG. 2, the position information 74 is displayed in reverse video. This is because the robot arm 2 is stationary at the position number “3” or at the passing position, and the stationary position is position number “4”. Or it shows that it is in the middle of shifting to the stationary state at the passing position.
With this configuration, the operator can easily determine which part of the series of operations the robot arm 2 is reproducing at the time of the operation of the robot arm 2 during reproduction, that is, at the time of reproducing the operation of the robot arm 2. It is possible to grasp.
Further, when some trouble occurs in the robot 1 and the robot arm 2 stops at a position other than a predetermined stationary position or passing position, which position information displayed on the display unit 53 is reversed and displayed. As a result, it is possible to easily grasp in which process of the series of operations of the robot arm 2 it is stopped, and the workability of the teaching operation of the operation of the robot arm 2 is improved (labor saving of work, work time) Contributes to shortening).
In the case of the robot 1 of this embodiment, the position information of the robot arm 2 corresponding to the operation of the robot arm 2 at the time of reproduction is reversed and displayed, but the operation of the robot arm 2 at the time of reproduction is supported. Whether the position information of the robot arm 2 to be blinked is displayed or displayed in a different color, the information is displayed with a predetermined mark (for example, a black circle is displayed next to the position number). Even in the configuration, there are substantially the same effects.

As described above, the robot 1 of this embodiment is
A robot arm 2 having a plurality of joints and having a hand 28 at the tip;
The first fixed camera 31, the second fixed camera 32, the robot arm side camera 33, and the image of the work 11 captured by the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33, which image the workpiece 11. A visual recognition device 3 including a visual information processing device 34 that calculates position information of the workpiece 11 based on the information;
A controller 4 for controlling the operation of the robot arm 2 based on a preset program related to the operation of the robot arm 2 and position information of the workpiece 11 acquired from the visual recognition device 3;
The position information 71, 72, 73, 74, 75, 76 of the robot arm 2 is displayed in time series, and the parameter 81 for the visual recognition device 3 to acquire the position information of the workpiece 11 is set to the position of the robot arm 2. A teach pendant 5 (more precisely, a display unit 53 of the teach pendant 5) that is displayed along with the information 71;
It comprises.
With this configuration, it is easy to grasp the operation state of the robot 1 (more strictly, the operation state of the robot arm 2 and the visual recognition device 3), and the workability during teaching work is excellent (labor saving work). And contribute to shortening work time).

In addition, the robot 1
A predetermined range (position information 73, 74, 75) of the position information of the robot arm 2 displayed in time series on the display unit 53 of the teach pendant 5 is displayed on the screen as a correction processing start marker 82 and a correction processing end marker 83. By specifying between them, correction processing is applied when reproducing the motion of the robot arm 2 corresponding to the position information of the designated robot arm 2.
With this configuration, the robot displayed on the display unit 53 can be corrected without directly correcting the program related to the operation of the robot arm 2 created in a predetermined program language during the teaching operation of the robot arm 2. Of the series of operations of the robot arm 2, the position information 73, 74, 75, which is a part of the position information of the arm 2, is simply specified on the screen by sandwiching it between the correction process start marker 82 and the correction process end marker 83. , It is possible to easily specify that the correction process is applied to the operation corresponding to the position information 73, 74, and 75, and the workability at the time of teaching work is excellent (labor saving of teaching work, work related to teaching work) Contributes to saving time).
Further, the operator can easily grasp which operation is within the application range of the correction processing among the series of operations of the robot arm 2 by looking at the positions of the correction processing start marker 82 and the correction processing end marker 83. This also contributes to the improvement of workability during teaching work.

The controller 4 of the robot 1
Position information (position vector A) of the robot arm 2 at the time of teaching, position information (position vector D) of the robot arm 2 at the time of reproduction, position information of the workpiece 11 at the time of teaching (position vector A) stored in a predetermined storage area of the controller 4 Based on the position vector B), the position information of the workpiece 11 at the time of reproduction (position vector E), and the position information of the robot arm 2 to which the correction processing at the time of reproduction is applied (position vector C), the operation of the robot arm 2 at the time of reproduction A correction amount (position vector F) is calculated.
With this configuration, it is possible to easily calculate the correction amount of the robot arm 2 during reproduction. Further, by storing information for calculating the correction amount of the robot arm 2 in a predetermined storage area, it is possible to flexibly cope with re-correction and restoration of a program related to the operation of the robot arm 2. And excellent workability.

The position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed on the display unit 53 of the teach pendant 5 of the robot 1 is
At least one of the information related to the operation classification of the robot arm 2, the operation accuracy of the robot arm 2, the operation speed of the robot arm 2, the output signal when the robot arm 2 operates, and the input signal when the robot arm 2 operates Is included.
With this configuration, it is possible to easily grasp the operation status and contents of the robot arm 2.

The parameter 81 for acquiring the position information of the workpiece 11 displayed on the display unit 53 of the teach pendant 5 of the robot 1 is:
It includes at least one of information relating to the classification of the visual recognition method, the classification of the imaging means, the work number, and the imaging part of the work.
With this configuration, it is possible to easily grasp the timing and content of the visual recognition process.

The display unit 53 of the teach pendant 5 of the robot 1 is
Information indicating the position of the robot arm 2 corresponding to the operation of the robot arm 2 during reproduction is displayed inverted, blinking, displayed in a different color, or displayed with a predetermined mark. It is.
With this configuration, it is possible to easily grasp the operation time point when the robot arm 2 is reproduced.
In addition, when some trouble occurs in the robot 1 and the robot arm 2 stops at a position other than a predetermined stationary position, by checking which position information displayed on the display unit 53 is displayed inverted or the like. Thus, it is possible to easily grasp in which process of the series of operations of the robot arm 2 is stopped, and the workability of teaching work is improved (contributing to labor saving and shortening of work time).

Also, the robot information display method of this embodiment is
A robot arm 2 having a plurality of joints and having a hand 28 at the tip;
The first fixed camera 31, the second fixed camera 32, the robot arm side camera 33, and the image of the work 11 captured by the first fixed camera 31, the second fixed camera 32, and the robot arm side camera 33, which image the workpiece 11. A visual recognition device 3 including a visual information processing device 34 that calculates position information of the workpiece 11 based on the information;
A controller 4 for controlling the operation of the robot arm 2 based on a preset program related to the operation of the robot arm 2 and position information of the workpiece 11 acquired from the visual recognition device 3;
A teach pendant 5 (more precisely, a display unit 53 of the teach pendant 5) for displaying information relating to the operation of the robot arm 2,
An information display method for the robot 1 comprising:
The position information 71, 72, 73, 74, 75, 76 of the robot arm 2 is displayed in time series on the teach pendant 5 (more precisely, the display unit 53 of the teach pendant 5), and the visual recognition device 3 The parameter 81 for acquiring the position information of the workpiece 11 is added to the position information 71 of the robot arm 2 and displayed.
With this configuration, it is easy to grasp the operation state of the robot 1 (more strictly, the operation state of the robot arm 2 and the visual recognition device 3), and the workability during teaching work is excellent (labor saving work). And contribute to shortening work time).

Also, the robot information display method of this embodiment is
A predetermined range (position information 73, 74, 75) of the position information of the robot arm 2 displayed in time series on the display unit 53 of the teach pendant 5 is displayed on the screen as a correction processing start marker 82 and a correction processing end marker 83. By specifying between them, correction processing is applied when reproducing the motion of the robot arm 2 corresponding to the position information of the designated robot arm 2.
With this configuration, the robot displayed on the display unit 53 can be corrected without directly correcting the program related to the operation of the robot arm 2 created in a predetermined program language during the teaching operation of the robot arm 2. Of the series of operations of the robot arm 2, the position information 73, 74, 75, which is a part of the position information of the arm 2, is simply specified on the screen by sandwiching it between the correction process start marker 82 and the correction process end marker 83. , It is possible to easily specify that the correction process is applied to the operation corresponding to the position information 73, 74, and 75, and the workability at the time of teaching work is excellent (labor saving of teaching work, work related to teaching work) Contributes to saving time).
Further, the operator can easily grasp which operation is within the application range of the correction processing among the series of operations of the robot arm 2 by looking at the positions of the correction processing start marker 82 and the correction processing end marker 83. This also contributes to the improvement of workability during teaching work.

In the case of the robot information display method of this embodiment,
The controller 4 of the robot 1
Position information (position vector A) of the robot arm 2 at the time of teaching, position information (position vector D) of the robot arm 2 at the time of reproduction, position information of the workpiece 11 at the time of teaching (position vector A) stored in a predetermined storage area of the controller 4 Based on the position vector B), the position information of the workpiece 11 at the time of reproduction (position vector E), and the position information of the robot arm 2 to which the correction processing at the time of reproduction is applied (position vector C), the operation of the robot arm 2 at the time of reproduction A correction amount (position vector F) is calculated.
With this configuration, it is possible to easily calculate the correction amount of the robot arm 2 during reproduction. Further, by storing information for calculating the correction amount of the robot arm 2 in a predetermined storage area, it is possible to flexibly cope with re-correction and restoration of a program related to the operation of the robot arm 2. And excellent workability.

In the case of the robot information display method of this embodiment,
The position information 71, 72, 73, 74, 75, 76 of the robot arm 2 displayed on the display unit 53 of the teach pendant 5 of the robot 1 is
At least one of the information related to the operation classification of the robot arm 2, the operation accuracy of the robot arm 2, the operation speed of the robot arm 2, the output signal when the robot arm 2 operates, and the input signal when the robot arm 2 operates Is included.
With this configuration, it is possible to easily grasp the operation status and contents of the robot arm 2.

In the case of the robot information display method of this embodiment,
The parameter 81 for acquiring the position information of the workpiece 11 displayed on the display unit 53 of the teach pendant 5 of the robot 1 is:
It includes at least one of information relating to the classification of the visual recognition method, the classification of the imaging means, the work number, and the imaging part of the work.
With this configuration, it is possible to easily grasp the timing and content of the visual recognition process.

In the case of the robot information display method of this embodiment,
The display unit 53 of the teach pendant 5 of the robot 1 is
Information indicating the position of the robot arm 2 corresponding to the operation of the robot arm 2 during reproduction is displayed inverted, blinking, displayed in a different color, or displayed with a predetermined mark. It is.
With this configuration, it is possible to easily grasp the operation time point when the robot arm 2 is reproduced.
In addition, when some trouble occurs in the robot 1 and the robot arm 2 stops at a position other than a predetermined stationary position, by checking which position information displayed on the display unit 53 is displayed inverted or the like. Thus, it is possible to easily grasp in which process of the series of operations of the robot arm 2 is stopped, and the workability of teaching work is improved (contributing to labor saving and shortening of work time).

1 is an overall schematic diagram of an embodiment of a robot according to the present invention. The figure which shows the display screen of the display part of a teach pendant. The figure which shows the parameter which concerns on the visual recognition process displayed on a display part. The figure which shows the storage structure of the information which concerns on the correction process of a controller.

DESCRIPTION OF SYMBOLS 1 Robot 2 Robot arm 3 Visual recognition apparatus 4 Controller (control apparatus)
5 Teach Pendant 11 Work 28 Hand (End Effector)
31 First fixed camera (imaging means)
32 Second fixed camera (imaging means)
33 Robot arm side camera (imaging means)
34 Visual information processing device (work position information calculation means)
53 Display unit (display device)

Claims (8)

A robot arm having a plurality of joints and provided with an end effector at the tip;
A visual recognition device comprising: an imaging means for imaging a workpiece; and a workpiece position information calculating means for calculating workpiece position information based on an image of the workpiece imaged by the imaging means;
A control device for controlling the operation of the robot arm based on a preset program related to the operation of the robot arm and the position information of the workpiece acquired from the visual recognition device;
A display device for displaying the position information of the robot arm in a time-series manner with line breaks up and down , and a parameter for the visual recognition device to acquire the position information of the work attached to the position information of the robot arm; ,
Equipped with,
The control device includes:
In accordance with a preset program related to the robot arm operation, the robot arm position information during teaching, the robot arm position information during reproduction, and the workpiece position information during teaching stored in a predetermined storage area of the control device. Based on the position information of the workpiece at the time of reproduction and the position information of the robot arm to which the correction process at the time of reproduction is applied, the correction amount of the movement of the robot arm at the time of reproduction is calculated, and the calculated movement amount of the robot arm at the time of reproduction is calculated. Based on the correction amount, correct the movement amount of the robot arm during playback, operate the robot arm by the corrected movement amount,
The control device includes:
A correction processing start marker is displayed at a position between the lines of the position information of the robot arm displayed on the display device with line breaks up and down, and between the lines of the position information of the robot arm and more than the correction processing start marker. By displaying a correction process end marker at a lower position, a portion sandwiched between the correction process start marker and the correction process end marker in the position information of the robot arm is set as a predetermined range of the position information of the robot arm. Specify and apply correction processing when reproducing the robot arm motion corresponding to the position information of the robot arm specified as the predetermined range,
robot. The position information of the robot arm displayed by the display device is
Actuation of the robot arm, according to claim 1 comprising operating accuracy of the robot arm, the operation speed of the robot arm, at least one of information relating to the input signal, at the time of operation of the output signal and the robot arm during the operation of the robot arm The robot described in 1. Parameters for the visual recognition device to display the position information of the workpiece displayed by the display device,
The robot according to claim 1, comprising at least one of information relating to a classification of a visual recognition method, a classification of an imaging unit, a work number, and an imaging part of the work. The display device
The position information of the robot arm corresponding to the operation of the robot arm at the time of reproduction is displayed inverted, blinking, displayed in a different color, or displayed with a predetermined mark. The robot according to any one of claims 1 to 3 . A robot arm having a plurality of joints and provided with an end effector at the tip;
A visual recognition device comprising: an imaging means for imaging a workpiece; and a workpiece position information calculating means for calculating workpiece position information based on an image of the workpiece imaged by the imaging means;
A control device for controlling the operation of the robot arm based on a preset program related to the operation of the robot arm and the position information of the workpiece acquired from the visual recognition device;
A display device for displaying information related to the operation of the robot arm;
An information display method for a robot comprising:
The display device,
The position information of the robot arm is displayed in chronological order with line breaks up and down , and the parameters for the visual recognition device to acquire the position information of the work are displayed along with the position information of the robot arm ,
The control device includes:
The robot arm position information at the time of teaching, the position information of the robot arm at the time of reproduction, and the position information of the workpiece at the time of teaching stored in a predetermined storage area of the control device in accordance with a program related to the operation of the robot arm set in advance. Based on the position information of the workpiece at the time of reproduction and the position information of the robot arm to which the correction process at the time of reproduction is applied, the correction amount of the movement of the robot arm at the time of reproduction is calculated, and the calculated movement amount of the robot arm at the time of reproduction is calculated. Based on the correction amount, correct the movement amount of the robot arm during playback, operate the robot arm by the corrected movement amount,
The control device includes:
A correction processing start marker is displayed at a position between the lines of the position information of the robot arm displayed on the display device with line breaks up and down, and between the lines of the position information of the robot arm and more than the correction processing start marker. By displaying a correction process end marker at a lower position, a portion sandwiched between the correction process start marker and the correction process end marker in the position information of the robot arm is set as a predetermined range of the position information of the robot arm. Specify and apply correction processing when reproducing the robot arm motion corresponding to the position information of the robot arm specified as the predetermined range,
Robot information display method. The position information of the robot arm displayed by the display device is
6. The apparatus according to claim 5 , comprising at least one of information relating to an operation classification of the robot arm, an operation accuracy of the robot arm, an operation speed of the robot arm, an output signal when the robot arm is operated, and an input signal when the robot arm is operated. The robot information display method described in 1. Parameters for the visual recognition device to display the position information of the workpiece displayed by the display device,
The robot information display method according to claim 5 , comprising at least one of information relating to a classification of a visual recognition method, a classification of an imaging unit, a work number, and an imaging part of the work. The display device
The position information of the robot arm corresponding to the operation of the robot arm at the time of reproduction, and displaying the inverted, displayed by blinking, and displays a different color, or claim 5 for displaying denoted by the predetermined mark The robot information display method according to any one of claims 1 to 7 .

Images