JP5839589B2 - Teaching data editing system and program - Google Patents

Description

  The present invention relates to an editing system and program for editing teaching data of an industrial robot.

  Industrial robots such as welding robots that perform welding operate to perform work set by the teaching data by providing the teaching data (see, for example, Patent Documents 1 and 2). The teaching data is configured, for example, as a set of a program file describing an operation to be executed by the robot and a data file describing data such as various conditions. Then, by combining these files, the robot is caused to execute a desired work. Here, the program file and the data file (hereinafter referred to as a program or the like) can be used by calling other programs or the like as appropriate.

  When adding work by the robot, the teaching data is edited, and a combination (set) of a new program or the like is registered in the teaching data. At this time, a new program or the like may be added to the teaching data. In addition, when the work based on already existing teaching data is changed or deleted, the contents of individual programs or the like are changed or deleted, or new programs or the like are added to the teaching data.

JP 2005-135095 A JP 2008-250706 A

In a welding robot or the like, the free space of a memory for storing teaching data files decreases as the number of workpieces to be welded increases. Therefore, if an unnecessary file that is not called from any file is deleted, the free space of the memory can be increased. However, if deletion processing is performed without grasping the calling relationship between files, a necessary file may be deleted by mistake.
An object of the present invention is to prevent the occurrence of erroneous processing that deletes a necessary file by specifying a file that may be deleted based on a calling relationship between files of teaching data.

The present invention that achieves the above object is realized as the following editing system. This editing system is an editing system for editing teaching data of a robot, and there is teaching data holding means for acquiring and holding teaching data including a plurality of files, and each of the plurality of files included in the teaching data. A call target file list in which identification information of a call target file that is a first other file called by a file is registered, and a call in which identification information of a call source file that is a second other file that calls this file is registered A list creation means created for each of a plurality of files included in the teaching data of the original file list, and each of the teaching data based on the call target file list and the caller file list created by the list creation means The file to be called and the file Checks whether there is a caller file, and displays a file identification means for identifying an orphan file that is neither a call target file nor a caller file, and displays the orphan file identified by the file identification means as a file that can be deleted And a display means.
By adopting such a configuration, the presence or absence of a call target file and a call source file is checked for each of a plurality of files included in the teaching data on the basis of the calling relationship between the teaching data files, and even if the file is deleted, Files that do not affect the file can be identified and displayed as deleteable files.

Here, the file specifying means checks whether or not there is a call source file for each file included in the teaching data based on the call source file list, specifies an unused file that is a file for which the call source file does not exist, and calls the file to be called Based on the list, the presence or absence of a call target file is checked for each unused file, and an isolated file in which no call target file exists is specified.
With this configuration, both unused files and isolated files can be specified.

Further, the display means displays the unused file specified by the file specifying means separately from the isolated file.
With this configuration, the operator can discriminate between unused files and isolated files.

Further, the editing system further includes a command receiving unit that receives a deletion command that designates the file displayed by the display unit as a deletion target.
With this configuration, the operator can input a deletion command that designates the displayed file as a deletion target.

Further, the display means targets the number of times the isolated file has been reproduced or the number of times the isolated file has been called, and the value is 0 within a predetermined period, or since the isolated file has been created. An isolated file corresponding to this condition is displayed as a file that can be deleted on the condition that at least one of the number of reproductions or the number of calls of the isolated file is a target and the value is zero. .
By adopting such a configuration, it is possible to specify a file that can be deleted in consideration of information related to file reproduction and display it as a file that can be deleted.

The present invention is also realized as the following editing system. This editing system is an editing system for editing teaching data of a robot, and there is teaching data holding means for acquiring and holding teaching data including a plurality of files, and each of the plurality of files included in the teaching data. A call target file list in which identification information of a call target file that is a first other file called by a file is registered, and a call in which identification information of a call source file that is a second other file that calls this file is registered List creation means for creating the original file list for each of a plurality of files included in the teaching data, command accepting means for accepting a delete command for designating a file to be deleted and instructing to delete the file, and command accepting Based on the delete command received by the means, in the delete command Refers to the call target file list and call source file list for the file specified as the deletion target, and is specified by the delete instruction on condition that neither the call target file nor the call source file exists for the file specified by the delete instruction. Deleting means for deleting the recorded file.
By adopting such a configuration, based on the calling relationship between the teaching data files, the file to be called and the calling source file list are created and deleted for each of the plurality of files included in the teaching data. You can also identify files that do not affect other files and delete the identified files.

Here, the list creation means sequentially focuses on each of the plurality of files included in the teaching data, and registers the identification information of the second file called by the focused first file in the call target file list related to the first file. The identification information of the first file is registered in the caller file list related to the second file.
With such a configuration, it is possible to specify the call target file and the call source file for all the files included in the teaching data based on the file call relationship of interest.

In addition to the condition that neither the call target file nor the call source file exists, the deletion means sets the value in advance for the number of times the file specified by the delete command or the number of times the file has been called. On condition that it is 0 times within a predetermined period, or that the value is 0 for the number of times the file has been played or called since the file was created, A file that satisfies this condition is deleted.
With such a configuration, it is possible to specify a file that may be deleted in consideration of information related to file reproduction, and to delete the specified file.

Furthermore, the present invention is also realized as the following editing system. This editing system is an editing system for editing teaching data of a robot, and there is teaching data holding means for acquiring and holding teaching data including a plurality of files, and each of the plurality of files included in the teaching data. A call target file list in which identification information of a call target file that is a first other file called by a file is registered, and a call in which identification information of a call source file that is a second other file that calls this file is registered List holding means for holding the original file list for each of a plurality of files included in the teaching data, command receiving means for specifying a file to be deleted and instructing deletion of the file, and command receiving means Based on the delete command accepted by the Refers to the call target file list and call source file list for the file specified as the target, and is specified in the delete instruction on condition that neither the call target file nor the call source file exists for the file specified in the delete instruction. And deleting means for deleting the file.
By adopting such a configuration, based on the calling relationship between the teaching data files, the calling target file list and the calling source file list are retained for each of the plurality of files included in the teaching data, and the files are deleted. You can also identify files that do not affect other files and delete the identified files.

  Furthermore, the present invention is also realized as a program that controls a computer to realize each function of the editing system described above. This program can be provided by being stored and distributed in a magnetic disk, an optical disk, a semiconductor memory, or other recording media, or distributed via a network.

  According to the present invention, by specifying a file that can be deleted based on a calling relationship between teaching data files, it is possible to prevent an erroneous process of deleting a necessary file.

It is a figure which shows schematic structure of the edit system and welding robot system which concern on this Embodiment. It is a figure which shows the hardware structural example of the teaching data editing apparatus of this Embodiment. It is a figure which shows the function structural example of the teaching data editing apparatus of this Embodiment. FIG. 5 is a diagram illustrating a call target file list and a call source file list according to the types of files constituting teaching data according to the present embodiment. It is a flowchart which shows an example of the flow of a creation process of the call object file list and call origin file list in this Embodiment. It is a flowchart which shows an example of the flow of a creation process of a call object file list and a call origin file list in this Embodiment. It is a flowchart which shows an example of the flow of a creation process of a call object file list and a call origin file list in this Embodiment. It is a flowchart which shows an example of the flow of an unused file list creation process in this Embodiment. It is a flowchart which shows an example of the flow of an unused file list creation process in this Embodiment. It is a flowchart which shows an example of the flow of an isolated file list creation process in this Embodiment. It is a flowchart which shows an example of the flow of an isolated file list creation process in this Embodiment. It is a flowchart which shows an example of the flow of the deletion process with respect to the file contained in teaching data in this Embodiment. It is a flowchart which shows an example of the flow of the deletion process with respect to the file contained in teaching data in this Embodiment.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
In this embodiment, a teaching data editing system in a welding robot system will be described as an example.
〔System configuration〕
FIG. 1 is a diagram showing a schematic configuration of an editing system and a welding robot system according to the present embodiment.
As shown in FIG. 1, the welding robot system includes a robot (manipulator) 10, a control device (controller) 20 for controlling the robot 10, and a teaching device 30 for inputting teaching data. The editing system is constituted by a teaching data editing device 40 realized by, for example, a computer system.

  The robot 10 includes arms having a plurality of joints, and performs various operations based on teaching data. In the case of a welding robot system, a welding torch 11 for performing a welding operation of an object is provided at the tip of the arm. The control device 20 includes a storage device (memory) that stores teaching data and a processing device (CPU) that reads the teaching data and controls the operation of the robot 10. The teaching device 30 is used when an operator inputs a welding path, welding work conditions, and the like during teaching work of the robot 10. The teaching device 30 includes a display screen 31 constituted by a liquid crystal display or the like and an input button 32.

  The control device 20 has an interface for the robot 10 and an interface for the teaching device 30, and is connected to the robot 10 and the teaching device 30 via these. The control device 20 includes an interface for reading and writing data from and to a removable storage medium 50 such as a memory card, for example. Can be read and stored in a storage device.

[Hardware configuration of teaching data editing device]
FIG. 2 is a diagram illustrating a hardware configuration example of the teaching data editing device 40.
As shown in FIG. 2, the teaching data editing apparatus 40 includes a CPU (Central Processing Unit) 101 that is a calculation unit and a memory 102 that is a main storage unit. Further, as external devices, an image display mechanism (video card or the like) 103 and a display device 104, a magnetic disk device (HDD: Hard Disk Drive) 105, an input device 106 such as a keyboard or a mouse, and the like are provided. In addition, a driver 107 for reading / writing data from / to the storage medium 50 is provided. Thereby, the teaching data editing device 40 can read teaching data from the storage medium 50. 2 merely illustrates a hardware configuration when the teaching data editing apparatus 40 is realized by a computer system, and the teaching data editing apparatus 40 is not limited to the illustrated configuration.

[Functional structure of teaching data editing device]
FIG. 3 is a diagram illustrating a functional configuration example of the teaching data editing device 40.
As shown in FIG. 3, the teaching data editing device 40 includes a teaching data holding unit 41, a list creating unit 42, a list holding unit 43, a file specifying unit 44, a display unit 45, a command receiving unit 46, A deletion unit 47. The teaching data holding unit 41 and the list holding unit 43 are realized by storage means such as the memory 102 and the magnetic disk device 105 in the hardware configuration shown in FIG. The display unit 45 is realized by, for example, the image display mechanism 103 and the display device 104 in the hardware configuration illustrated in FIG. The list creation unit 42, the file specification unit 44, the command reception unit 46, and the deletion unit 47 are realized by the CPU 101 in the hardware configuration illustrated in FIG. 2, for example. More specifically, a program that realizes the function of the teaching data editing device 40 according to the present embodiment on a computer is stored in the magnetic disk device 105, this program is expanded in the memory 102, and executed by the CPU 101. The functions of the list creating unit 42, the file specifying unit 44, the command receiving unit 46, and the deleting unit 47 are realized.

  The teaching data holding unit 41 holds teaching data read from the storage medium 50 via the driver 107. The teaching data held in the teaching data holding unit 41 is subjected to editing processing by the teaching data editing device 40. Therefore, after the editing process is performed, the edited teaching data is held in the teaching data holding unit 41. Here, the teaching data is configured as a set of program files and data files. In this embodiment, since the welding robot system is taken as an example, it is assumed that it is constituted by four types of files: a program file, a data bank file, a parameter switching table file, and an arrowhead bank file. Details of each file will be described later.

  The list creation unit 42, for each of a plurality of files included in the teaching data held in the teaching data holding unit 41, calls for registering identification information of other files called by the file (hereinafter, called files to be called) Create a target file list. In addition, the list creation unit 42 registers, for each of a plurality of files included in the teaching data held in the teaching data holding unit 41, identification information of other files that call the file (hereinafter referred to as a calling source file). Create a caller file list. Here, the call source file calling the call target file means that the call source file has a call instruction for calling the call target file.

Specifically, the list creation unit 42 sequentially pays attention to each of the plurality of files included in the teaching data held in the teaching data holding unit 41. When the focused file calls another file, the list creation unit 42 registers the identification information of the called file to be called in the called file list regarding the focused file. Further, the list creation unit 42 registers the identification information of the focused file in the caller file list related to the call target file to be called.
As an example, there are file A and file B, and file A calls file B. That is, it is assumed that file A is a call source file of file B, and file B is a call target file of file A. In this case, the identification information of the file B is registered in the file A call target file list. Also, the identification information of file A is registered in the caller file list of file B. The identification information is used to specify a file to be called when calling another file from a certain file. As the file identification information, a file number or a file name can be used. Hereinafter, in the present embodiment, a case where a file number is used as identification information recorded in a list will be described as an example.

  The list holding unit 43 holds the call target file list and the call source file list created by the list creation unit 42.

The file specifying unit 44 acquires the call source file list created by the list creation unit 42 from the list holding unit 43, and checks whether there is a call source file for each file included in the teaching data based on the acquired call source file list. . Then, the file identification unit 44 identifies a file for which no caller file exists as an unused file, and creates an unused file list in which the file numbers of the unused files are registered.
Further, the file specifying unit 44 acquires the call target file list created by the list creation unit 42 from the list holding unit 43, and checks whether there is a call target file for each unused file based on the acquired call target file list. Then, the file specifying unit 44 specifies an unused file for which no file to be called exists as an isolated file, and creates an isolated file list in which the file numbers of the isolated files are registered.
As described above, an unused file is a file in which no caller file exists, and an orphan file is a file in which neither a call target file nor a caller file exists.

The display unit 45 causes the display device 104 to display the isolated file list and the unused file list created by the file specifying unit 44, for example, under the control of the image display mechanism 103 shown in FIG. The orphan file list is displayed as a list of files that can be deleted, and is displayed separately from the unused file list.
Since an unused file does not have a caller file, it can be considered an unnecessary and deleteable file. However, for example, a main program directly called by an operator is not called from another file, and is classified as an unused file. It is okay to delete unused files that are not the main program, but deleting the main program can be problematic. As described above, even if it is an unused file, there are files that can be deleted and files that cannot be deleted.
Therefore, in this embodiment, as a general rule, an isolated file is a file that can be deleted, and the isolated file and the unused file are displayed separately. However, even if it is an unused file, it can be deleted as long as the file is not directly called by the operator. Therefore, when the command accepting unit 46 accepts the delete command, a condition such as confirming that the file targeted for deletion by the delete command is an unused file is given, and the unused file is also regarded as a target for deletion. It is good also as composition to do.

The command accepting unit 46 designates a file to be deleted, and accepts a command (deletion command) for instructing deletion of the specified file. When deleting a file, the operator refers to an isolated file list or an unused file list displayed on the display device 104 by the display unit 45, designates a desired file number, and inputs a deletion command. The deletion command is input, for example, when the operator operates the input device 106 shown in FIG.
When receiving the delete command, the command receiving unit 46 acquires the isolated file list and the unused file list displayed on the display device 104 from the file specifying unit 44. Then, the command receiving unit 46 determines whether or not the file number designated by the delete command is displayed on the display device 104. The command receiving unit 46 treats only the delete command with the file number displayed on the display device 104 as valid, and treats the delete command with the file number not displayed on the display device 104 as valid. Do not treat as a thing.

  The deletion unit 47 deletes the file specified as the deletion target in the deletion command based on the deletion command treated as valid by the command receiving unit 46.

  In the present embodiment, the teaching data editing device 40 acquires teaching data from the control device 20 of the welding robot system via the storage medium 50. However, the control device 20 and teaching data via a network or the like are used. The teaching data editing device 40 may acquire teaching data by connecting the editing device 40 and exchanging data.

[Type and contents of files to be processed]
Here, the types and contents of files constituting the teaching data to be processed in the present embodiment will be described. As described above, the teaching data of the welding robot system according to the present embodiment is composed of four types of files: a program file, a data bank file, a parameter switching table file, and an arrowhead bank file. The program file is an essential file, but other files may not exist depending on teaching data.

The program file is a file describing the work position and posture of the robot 10, work procedures, and the like.
The data bank file is a table in which various work conditions referred to by the program file are registered. In the welding robot system, welding conditions (parameters related to welding work) are mainly registered.

The parameter switching table file is set for each specification when it is desired to realize specifications for the work of the robot 10 (for example, in the case of welding work, the type of welding wire, the protruding length of the wire, etc.) with a plurality of settings. This table is used for switching parameters.
The arrowhead bank file is a table in which patterns of weaving operations of the robot 10 in welding work are registered.

  Of these four types of files, the program file and the data bank file may be the caller file for other files. Specifically, the program file may be a call source file of a program file, a data bank file, a parameter switching table file, or an arrowhead bank file. Further, the data bank file may be a parameter switching table file or a call source file of an arrowhead bank file. On the other hand, the parameter switching table file and the arrowhead bank file are not caller files that call other files.

FIG. 4 is a diagram illustrating the call target file list and the call source file list according to the present embodiment, divided according to the types of files constituting the teaching data.
The program file has a call target program file list, a call target data bank file list, a call target parameter switching table file list, and a call target arrowhead bank file list as a call target file list. The program file has a caller program file list as a caller file list.
The data bank file has a call target parameter switching table file list and a call target arrowhead bank file list as a call target file list. The data bank file has a caller program file list as a caller file list.

The parameter switching table file does not have a call target file list. The parameter switching table file has a caller program file list and a caller data bank file list as a caller file list.
The arrowhead bank file does not have a file list to be called. The arrowhead bank file has a caller program file list and a caller data bank file list as a caller file list.

[Contents of list creation process]
FIG. 5 (FIGS. 5-1 to 5-3) is a flowchart illustrating an example of a flow of processing for creating a call target file list and a call source file list by the list creation unit 42 in the present embodiment.
As an initial state, it is assumed that teaching data to be processed is acquired in advance, and the acquired teaching data is held in the teaching data holding unit 41. In addition, the file creation target list and the call source file list of each file are displayed by the list creation unit 42 in a state where nothing is described (empty) when the teaching data is held in the teaching data holding unit 41, for example. It is assumed that it has been created.

  First, the list creation unit 42 extracts one file (hereinafter referred to as a first target file) from the teaching data held in the teaching data holding unit 41 (step 501). Then, the list creation unit 42 determines whether or not the extracted first target file is a program file (step 502).

If the first target file is a program file, the list creation unit 42 then determines whether the first target file calls another program file (step 503). If the first target file is not a program file and the result is No in step 502, the list creation unit 42 executes the process of step 519. Step 519 will be described later.
When the first target file calls another program file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 504). Here, for example, when the call target file has been deleted in the past, the call target file does not exist in the teaching data.
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target program file list of the first target file (step 505). The list creation unit 42 registers the file number of the first target file in the call source program file list of the call target file (step 506).
If No in either step 503 or step 504, the list creation unit 42 does not register in the call target program file list or the call source program file list.

Next, the list creation unit 42 determines whether or not the first target file calls a data bank file (step 507).
When the first target file calls the data bank file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 508).
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target data bank file list of the first target file (step 509). The list creation unit 42 registers the file number of the first target file in the call source program file list of the call target file (step 510).
If No in either step 507 or step 508, the list creation unit 42 does not register in the call target data bank file list or the call source program file list.

Next, the list creation unit 42 determines whether or not the first target file calls the parameter switching table file (step 511).
When the first target file calls the parameter switching table file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 512).
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target parameter switching table file list of the first target file (step 513). The list creation unit 42 registers the file number of the first target file in the call source program file list of the call target file (step 514).
If No in either step 511 or step 512, the list creation unit 42 does not register in the call target parameter switching table file list or the call source program file list.

Next, the list creation unit 42 determines whether or not the first target file calls an arrowhead bank file (step 515).
When the first target file calls the arrowhead bank file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 516).
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target arrowhead bank file list of the first target file (step 517). The list creating unit 42 registers the file number of the first target file in the call source program file list of the call target file (step 518).
If the answer is No in either step 515 or step 516, the list creation unit 42 does not register the call target arrowhead bank file list or the caller program file list.
In the above-described operation, a series of processing from Step 503 to Step 506, a series of processing from Step 507 to Step 510, a series of processing from Step 511 to Step 514, and a series of processing from Step 515 to Step 518, May be executed in any order.

Next, the list creation unit 42 determines whether or not the first target file is a data bank file (step 519).
If the first target file is a data bank file, the list creation unit 42 then determines whether or not the first target file calls a parameter switching table file (step 520). If the first target file is not a data bank file and the result is No in step 519, the process flow proceeds to step 528. Step 528 will be described later.
When the first target file calls the parameter switching table file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 521).
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target parameter switching table file list of the first target file (step 522). The list creation unit 42 registers the file number of the first target file in the call source data bank file list of the call target file (step 523).
If the answer is No in either step 520 or step 521, the list creation unit 42 does not register the call target parameter switching table file list or the call source data bank file list.

Next, the list creation unit 42 determines whether or not the first target file calls an arrowhead bank file (step 524).
When the first target file calls the arrowhead bank file, the list creation unit 42 next determines whether or not the call target file called by the first target file exists in the teaching data (step 525).
If the call target file exists in the teaching data, the list creation unit 42 then registers the file number of the call target file in the call target arrowhead bank file list of the first target file (step 526). The list creation unit 42 registers the file number of the first target file in the call source data bank file list of the call target file (step 527).
If the answer is No in either step 524 or step 525, the list creation unit 42 does not register the call target arrowhead bank file list or the caller data bank file list.
In the above operation, any of the series of processing from Step 520 to Step 523 and the series of processing from Step 524 to Step 527 may be performed first.

The list creation unit 42 sequentially acquires all the files included in the teaching data, and executes each processing from Step 501 to Step 527 (Step 528).
In the above operation, either the series of processing from Step 502 to Step 518 and the series of processing from Step 519 to Step 527 may be performed first.
As described above, the call target file list and the call source file list are created for each file included in the teaching data.

FIG. 6 (FIGS. 6-1 to 6-2) is a flowchart showing an example of a flow of processing for creating an unused file list by the file specifying unit 44 in the present embodiment.
As an initial state, it is assumed that a series of processes in the flowchart of FIG. 5 is executed and a call target file list and a call source file list are created for each file included in the teaching data. Further, it is assumed that the unused file list is created by the file specifying unit 44 in a state where nothing is described (empty) when the teaching data is held in the teaching data holding unit 41, for example.

First, the file specifying unit 44 extracts one file (hereinafter referred to as a second target file) from the teaching data held in the teaching data holding unit 41 (step 601). Then, the file specifying unit 44 determines whether or not the extracted second target file is a program file (step 602).
If the second target file is a program file, then the file specifying unit 44 acquires a call source program file list of the second target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired caller program file list is empty (step 603).
If the call source program file list is empty, the file specifying unit 44 then registers the file number of the second target file in the unused file list (step 604).
If the answer is No in either step 602 or step 603, the file specifying unit 44 does not register the file number of the second target file in the unused file list.

Next, the file specifying unit 44 determines whether or not the second target file is a data bank file (step 605).
If the second target file is a data bank file, then the file specifying unit 44 acquires the call source program file list of the second target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired caller program file list is empty (step 606).
If the call source program file list is empty, the file specifying unit 44 then registers the file number of the second target file in the unused file list (step 607).
If the answer is No in either step 605 or step 606, the file specifying unit 44 does not register the file number of the second target file in the unused file list.

Next, the file specifying unit 44 determines whether or not the second target file is a parameter switching table file (step 608).
If the second target file is a parameter switching table file, then the file specifying unit 44 acquires the call source program file list and the call source data bank file list of the second target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired caller program file list and caller data bank file list are empty (step 609).
If both the calling source program file list and the calling source data bank file list are empty, the file specifying unit 44 registers the file number of the second target file in the unused file list (step 610).
If the answer is No in either step 608 or step 609, the file specifying unit 44 does not register the file number of the second target file in the unused file list.

Next, the file specifying unit 44 determines whether or not the second target file is an arrowhead bank file (step 611).
When the second target file is an arrowhead bank file, the file specifying unit 44 next acquires the call source program file list and the call source data bank file list of the second target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired caller program file list and caller data bank file list are empty (step 612).
If both the call source program file list and the call source data bank file list are empty, the file specifying unit 44 then registers the file number of the second target file in the unused file list (step 613).
If the answer is No in either step 611 or step 612, the file specifying unit 44 does not register the file number of the second target file in the unused file list.

The file specifying unit 44 sequentially acquires all the files included in the teaching data, and executes each processing from Step 601 to Step 613 (Step 614).
In the above-described operation, a series of processing from Step 602 to Step 604, a series of processing from Step 605 to Step 607, a series of processing from Step 608 to Step 610, and a series of processing from Step 611 to Step 613 May be executed in any order.
As described above, an unused file list relating to files included in the teaching data is created.

FIG. 7 (FIGS. 7-1 to 7-2) is a flowchart illustrating an example of the flow of an isolated file list creation process by the file specifying unit 44 in the present embodiment.
As an initial state, it is assumed that a series of processing in the flowchart of FIG. 6 is executed and an unused file list relating to files included in teaching data is created. Further, it is assumed that the isolated file list is created by the file specifying unit 44 in a state where nothing is described (empty) when the teaching data is held in the teaching data holding unit 41, for example.

First, the file specifying unit 44 refers to the unused file list, and extracts one unused file (hereinafter, third target file) from the teaching data held in the teaching data holding unit 41 (step 701). Then, the file specifying unit 44 determines whether or not the extracted third target file is a program file (step 702).
If the third target file is a program file, the file specifying unit 44 then acquires a call target program file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target program file list is empty (step 703). When the call target program file list is empty, the file specifying unit 44 next acquires the call target data bank file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target data bank file list is empty (step 704). When the call target data bank file list is empty, the file specifying unit 44 next acquires the call target parameter switching table file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target parameter switching table file list is empty (step 705). When the call target parameter switching table file list is empty, the file specifying unit 44 next acquires the call target arrowhead bank file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target arrowhead bank file list is empty (step 706). If the call target arrowhead bank file list is empty, then the file specifying unit 44 registers the file number of the third target file in the isolated file list (step 707).
In the above operation, step 703, step 704, step 705, and step 706 may be executed in any order.

If the third target file is not a program file, the file specifying unit 44 determines whether or not the third target file is a data bank file (step 708). Further, even if the third target file is a program file, if any of the call target file lists is not empty, the file specifying unit 44 does not register the file number of the third target file in the isolated file list, The process of step 708 is executed. If the third target file is a program file and all of the call target file lists are empty, the file specifying unit 44 registers the file number of the third target file in the isolated file list, and then performs the process of step 708. Execute.
If the third target file is a data bank file, then the file specifying unit 44 acquires the call target parameter switching table file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target parameter switching table file list is empty (step 709). When the call target parameter switching table file list is empty, the file specifying unit 44 next acquires the call target arrowhead bank file list of the third target file from the list holding unit 43. Then, the file specifying unit 44 determines whether or not the acquired call target arrowhead bank file list is empty (step 710). If the call target arrowhead bank file list is empty, then the file specifying unit 44 registers the file number of the third target file in the isolated file list (step 711).
In the above operation, step 709 and step 710 may be executed in any order.

If the third target file is not a data bank file, the file specifying unit 44 determines whether the third target file is either a parameter switching table file or an arrowhead bank file (step 712). Further, even if the third target file is a data bank file, if any of the call target file lists is not empty, the file specifying unit 44 does not register the file number of the third target file in the isolated file list. Step 712 is executed. If the third target file is a data bank file and all of the call target file lists are empty, the file specifying unit 44 registers the file number of the third target file in the isolated file list, and then in step 712. Execute the process.
If the third target file is either a parameter switching table file or an arrowhead bank file, then the file specifying unit 44 registers the file number of the third target file in the isolated file list (step 713). If the third target file is neither a parameter switching table file nor an arrowhead bank file, but No in step 712, the file specifying unit 44 does not register the file number of the third target file in the isolated file list.

The file specifying unit 44 sequentially acquires all unused files included in the teaching data, and executes each processing from Step 701 to Step 713 (Step 714).
In the above operation, the series of processing from Step 702 to Step 707, the series of processing from Step 708 to Step 711, and the series of processing from Step 712 to Step 713 may be executed in any order. I do not care.
As described above, an isolated file list relating to files included in the teaching data is created.

[Contents of file deletion processing]
FIG. 8 is a flowchart showing an example of the flow of deletion processing for a file included in teaching data in the present embodiment.
As an initial state, it is assumed that teaching data to be processed is acquired in advance, and the acquired teaching data is held in the teaching data holding unit 41.

The flowchart of FIG. 8 will be described below.
First, each process in the flowchart of FIG. 5 is executed, and the list creation unit 42 creates a call target file list and a call source file list for each file included in the teaching data (step 801).
Next, each process in the flowchart of FIG. 6 is executed, and the file specifying unit 44 creates an unused file list regarding files included in the teaching data (step 802).
Furthermore, each process in the flowchart of FIG. 7 is executed, and the file specifying unit 44 creates an isolated file list for files included in the teaching data (step 803).

The display unit 45 causes the display device 104 to display the unused file list and the isolated file list created by the file specifying unit 44 (step 804). The orphan file list is displayed as a list of files that can be deleted, and is displayed separately from the unused file list.
When the operator refers to the unused file list or the orphan file list displayed on the display device 104 and inputs a delete command specifying a desired file number, the command receiving unit 46 displays the input delete command. Accept (step 805). Next, the command receiving unit 46 acquires the unused file list and the isolated file list displayed on the display device 104 from the file specifying unit 44. Then, the command receiving unit 46 determines whether or not the file number specified by the delete command is displayed on the display device 104 as an isolated file (step 806). If the file number specified by the delete command is a file number in the isolated file list, the command receiving unit 46 treats the delete command as valid (step 807). Then, based on the delete command, the delete unit 47 deletes the file having the file number specified by the delete command (step 808).
If No in step 806, the instruction receiving unit 46 does not treat the deletion instruction as valid. Therefore, the process ends.

  Also, according to the above processing procedure, if the file number specified in the delete command is a file number in the unused file list as a result of the determination by the command receiving unit 46 in step 806, the file is not deleted and deleted. The instruction will not be treated as valid. However, even if it is an unused file, there is no problem even if it is not a file that is directly called by the operator as in the main program, and if it is a file that cannot be called at all. Therefore, when the file specified by the deletion command is an unused file, the deletion command can be handled as valid after confirming the deletion target again with the operator. Specifically, for example, in step 806, when the file number specified by the delete command is a file number in the unused file list, the display unit 45 notifies the operator that an unused file has been specified. Is displayed on the display device 104. Thereby, the teaching data editing device 40 informs the operator that the deletion target is an unused file, and consults whether or not the file that has been deleted by the deletion command may be deleted. Can do. The operator confirms whether or not the file to be deleted is a file that can be deleted (not the main program, etc.) with a delete command, and if it is a file that can be deleted, instructs the user to accept the file deletion again. input. When the command accepting unit 46 accepts the input delete acceptance instruction, the delete unit 47 deletes the file having the file number specified by the delete command.

Here, in the example of the processing procedure of FIG. 8 described above, first, the display unit 45 displays the unused file list and the isolated file list. Then, if the displayed file numbers of the unused file list and the isolated file list are specified in the delete command, the file having the specified file number is deleted by the deletion unit 47.
On the other hand, unlike the above processing procedure, first, the command receiving unit 46 receives a deletion command, and the file specifying unit 44 is an unused file or an isolated file for a file to be deleted by the deletion command. If it is an isolated file, the deletion unit 47 can delete the file.

[Other examples of file deletion processing]
Functional configuration of the teaching data editing apparatus 40 when the file specifying unit 44 determines whether or not the file targeted for deletion by the deletion command can be deleted after the command receiving unit 46 receives the deletion command. The implementation contents of each of the above also differ depending on the processing target. Hereinafter, the implementation contents of each unit in the processing procedure will be described.
The file specifying unit 44 does not check for the presence or absence of a call source file or a call target file for each file included in the teaching data, but for the presence or absence of a call source file or a call for a file to be deleted by a delete command. Check whether the target file exists.
Further, in this processing procedure, since the processing by the file specifying unit 44 is performed after the command receiving unit 46 receives the deletion command, the display unit 45 needs to display the unused file list and the isolated file list specified in advance. There is no.
The command receiving unit 46 receives all the delete commands as valid without making a determination on the file number designated by the delete command. Then, the processing by the file specifying unit 44 is performed for the designated file number by the delete command received by the command receiving unit 46.
The deletion unit 47 deletes a file that has been deleted by the deletion command when the file specifying unit 44 determines that the file is an isolated file.
Further, the implementation contents of the teaching data holding unit 41 and the list holding unit 43 are not different between the processing procedure in FIG. 8 and this processing procedure.

FIG. 9 is a flowchart showing an example of the flow of this processing procedure.
First, each process in the flowchart of FIG. 5 is executed, and the list creation unit 42 creates a call target file list and a call source file list for each file included in the teaching data (step 901).
When the operator inputs a delete command specifying the file number of a desired file to be deleted (hereinafter referred to as a fourth target file), the command receiving unit 46 receives the input delete command as valid (step 902). Then, the command receiving unit 46 notifies the file specifying unit 44 of the file number of the fourth target file.

The file specifying unit 44 executes each process in the flowchart of FIG. 6 on the fourth target file. That is, the file specifying unit 44 determines whether or not the fourth target file is an unused file (step 903). When the fourth target file is an unused file, the file specifying unit 44 executes each process in the flowchart of FIG. 7 for the fourth target file. That is, the file specifying unit 44 determines whether or not the fourth target file is an isolated file (step 904). If the fourth target file is an isolated file, the deletion unit 47 deletes the fourth target file (step 905).
If No in either step 903 or step 904, the file is not deleted and the process ends.

  Also, as a result of the determination by the file specifying unit 44 in step 904, if the fourth target file is an unused file that is not an isolated file, the display unit 45 displays a message that informs the operator that an unused file has been designated. You may make it display on the display apparatus 104. FIG. Thereby, the teaching data editing device 40 notifies the operator that the deletion target is an unused file and asks whether or not the fourth target file to be deleted can be deleted. it can. The operator confirms whether or not the fourth target file is a file that can be deleted (not the main program or the like). If the file is a file that can be deleted, the operator again inputs an instruction to permit the deletion of the file. Then, when the command receiving unit 46 receives the input deletion acceptance instruction, the deleting unit 47 deletes the fourth target file.

[Adding file deletion conditions]
In the present embodiment, in addition to the condition based on the calling relationship between files, a condition obtained from the robot reproduction information may be used as the file deletion condition.
The robot reproduction information is information related to reproduction of each file. Specifically, the robot reproduction information includes the number of reproductions and the last reproduction date / time of each program file, the number of calls of each data bank file and the last reproduction date / time of each data bank file, and each parameter switching table file. The number of calls and the last reproduction date and time of each parameter switching table file, and the number of calls and the last reproduction date and time of each arrowhead bank file are included.
The file deletion condition based on the robot reproduction information can be, for example, that the file reproduction count or the call count is 0 in the past year. In this case, even if the file is specified as an isolated file by the file specifying unit 44, if the file has been played or called at least once in the past year, the file specifying unit 44 removes the file from the deletion target. exclude.
Another condition may be that the number of times the file has been reproduced or called after the file is created is zero. In this case, even if the file is specified as an isolated file by the file specifying unit 44, if it is a file that has been played or called once or more after creation, the file specifying unit 44 removes the file from the deletion target. exclude.
Any one of these conditions may be used alone, or both may be used in combination. When these conditions are combined, for example, a file whose period from creation to less than one year may not be deleted even if the number of playbacks or the number of calls is 0.

In this case, in the example of the processing procedure of FIG. 8, for example, after the file specifying unit 44 creates the unused file list and the isolated file list, the robot reproduction information regarding each file of the created unused file list and the isolated file list is displayed. Check. Then, the file specifying unit 44 displays the unused file list and the isolated file list after the exclusion of the file after excluding the file that does not satisfy the above-described file deletion additional condition from the unused file list and the isolated file list. The unit 45 may be displayed on the display device 104.
Further, for example, the file specifying unit 44 provides a flag for each file in the unused file list and the isolated file list in accordance with the determination result of each file with respect to the above-described additional conditions for file deletion, and the display unit 45 displays the flag. An unused file list and an isolated file list provided with “” may be displayed on the display device 104. The operator can select a file number of a file that can be deleted with reference to the flags provided in the unused file list and the orphan file list, and can input a deletion command for that file as a deletion target. .
As an additional condition for deleting a file, the file playback count or the call count is set to 0 in the past year. However, the present invention is not limited to this. For example, a period shorter than one year may be set, or a period longer than one year may be set.

Also in the example of the processing procedure of FIG. 9, the condition obtained from the robot reproduction information may be added as the file deletion condition, as in the example of the processing procedure of FIG.
In this case, for example, after determining that the fourth file is an isolated file, the file specifying unit 44 confirms the robot reproduction information regarding the fourth file. Then, if the fourth file satisfies the above-described additional conditions for file deletion, the deletion unit 47 may delete the fourth target file.
The robot reproduction information is stored in the control device 20. Therefore, for example, the control device 20 writes the robot reproduction information to the storage medium 50, and the teaching data editing device 40 can acquire the robot reproduction information by reading the robot reproduction information from the storage medium 50.

  In the present embodiment, the call target file list, the caller file list, the unused file list, and the isolated file list are not described when the teaching data is held in the teaching data holding unit 41 ( It is assumed that it was created in the (empty) state, but is not limited to this. For example, if a list does not exist when a file number is registered in the list, each part of the functional configuration related to the processing (the list creation unit 42, the file specification unit 44, etc.) creates the list and then creates a file in the list You may register the number. In this case, a list without a registered file number is not created and does not exist. Therefore, for example, in the process in which the file specifying unit 44 acquires the call target file list and determines whether the acquired call target file list is empty, the call target file does not exist. Processing may be performed by determining that the list is empty. The same applies to the case where no other list exists.

[Other configuration examples of this embodiment]
In the above description, the teaching data editing device 40 implemented by a computer acquires teaching data of the welding robot system and performs editing processing for changing identification information (here, a file number) of a desired file. On the other hand, the function of the teaching data editing device 40 according to the present embodiment can be realized by the control device 20 and the teaching device 30 of the welding robot system shown in FIG.

  In this case, the control device 20 includes the CPU 101, the memory 102, and the magnetic disk device 105 in the hardware configuration example shown in FIG. In addition, the image display mechanism 103 and the display device 104 are realized by the display screen 31 of the teaching device 30 and its driving mechanism, and the input device 106 is realized by the input button 32 of the teaching device 30. In this case, the unused file list and the isolated file list created by the file specifying unit 44 are displayed on the display screen 31 of the teaching device 30. Then, the operator operates the input button 32 of the teaching device 30 and inputs a deletion command specifying the file number of the desired file. The control device 20 accepts an input operation by the teaching device 30 and deletes the file that has been deleted by the delete command if it can be deleted.

40 ... Teaching data editing device 41 ... Teaching data holding unit 42 ... List creating unit 43 ... List holding unit 44 ... File specifying unit 45 ... Display unit 46 ... Command receiving unit 47 ... Deleting unit 104 ... Display device

Claims (14)

An editing system for editing robot teaching data,
Teaching data holding means for acquiring and holding the teaching data including a plurality of files;
For each of the plurality of files included in the teaching data, a call target file list in which identification information of a call target file that is a first other file called by the file is registered, and a second that calls the file A list creation means for creating a caller file list in which identification information of a caller file which is another file is registered for each of the plurality of files included in the teaching data ;
Based on the call target file list and the call source file list created by the list creation means, the presence or absence of the call target file and the call source file is checked for each file included in the teaching data, and the call target file and File identification means for identifying an orphan file that is a file in which none of the caller files exists,
Display means for displaying the isolated file specified by the file specifying means as a file that can be deleted;
A teaching data editing system comprising:   The file specifying means examines the presence or absence of the call source file for each file included in the teaching data based on the call source file list, specifies an unused file that is a file in which the call source file does not exist, 2. The teaching data according to claim 1, wherein, based on a call target file list, the presence or absence of the call target file is checked for each of the unused files, and the isolated file in which the call target file does not exist is specified. Editing system.   3. The teaching data editing system according to claim 2, wherein the display means displays the unused file specified by the file specifying means separately from the isolated file.   4. The teaching data editing system according to claim 1, further comprising a command receiving unit that receives a deletion command that designates a file displayed by the display unit as a deletion target.   The display means targets the number of times the isolated file has been played or the number of times the isolated file has been called, and the value is zero within a predetermined period, or the isolated file has been created. The orphan file is displayed as a file that can be deleted on the condition that the number of times that the orphan file has been played or the number of calls is from 0, if the value is zero. The teaching data editing system according to claim 1, wherein: An editing system for editing robot teaching data,
Teaching data holding means for acquiring and holding the teaching data including a plurality of files;
For each of the plurality of files included in the teaching data, a call target file list in which identification information of a call target file that is a first other file called by the file is registered, and a second that calls the file A list creation means for creating a caller file list in which identification information of a caller file which is another file is registered for each of the plurality of files included in the teaching data ;
Command receiving means for specifying a file to be deleted and receiving a deletion command for instructing deletion of the file;
Based on the delete command received by the command receiving unit, the call target file list and the call source file list related to the file specified as the delete target in the delete command are referred to, and the file specified by the delete command A deletion unit that deletes the file specified by the deletion command on the condition that neither the call target file nor the caller file exists;
A teaching data editing system comprising:   The list creation means sequentially focuses on each of the plurality of files included in the teaching data, and the identification information of the second file called by the focused first file is the call target file list related to the first file. 7. The teaching data editing system according to claim 6, wherein the identification information of the first file is registered in the caller file list relating to the second file.   In addition to the above condition, the deletion means targets the number of times the file specified by the deletion command is played or the number of times the file is called, and the value is 0 within a predetermined period. Or the file corresponding to the condition, on the condition that the value is 0 for the number of times the file has been played or the number of calls since the file was created 7. The teaching data editing system according to claim 6, wherein the editing data is deleted. An editing system for editing robot teaching data,
Teaching data holding means for acquiring and holding the teaching data including a plurality of files;
For each of the plurality of files included in the teaching data, a call target file list in which identification information of a call target file that is a first other file called by the file is registered, and a second that calls the file A list holding means for holding a caller file list in which identification information of a caller file which is another file is registered for each of the plurality of files included in the teaching data ;
Command receiving means for specifying a file to be deleted and receiving a deletion command for instructing deletion of the file;
Based on the delete command received by the command receiving unit, the call target file list and the call source file list related to the file specified as the delete target in the delete command are referred to, and the file specified by the delete command A deletion unit that deletes the file specified by the deletion command on the condition that neither the call target file nor the caller file exists;
A teaching data editing system comprising: A program for causing a computer to function as an editing system for editing robot teaching data,
A function of acquiring the teaching data including a plurality of files;
For each of the plurality of files included in the teaching data, a call target file list in which identification information of a call target file that is a first other file called by the file is registered, and a second for calling the file A function of creating a caller file list in which identification information of a caller file that is another file is registered for each of the plurality of files included in the teaching data ;
Based on the created call target file list and the call source file list, the presence of the call target file and the call source file is checked for each file included in the teaching data, and the call target file and the call source file are checked. The ability to identify orphaned files that are none of the files,
A function of displaying the identified isolated file on a display device as a file that can be deleted;
Is realized by the computer.   The program according to claim 10, further causing a function of accepting a deletion command specifying a file displayed on the display device as a deletion target to the computer. A program for causing a computer to function as an editing system for editing robot teaching data,
A function of acquiring the teaching data including a plurality of files;
For each of the plurality of files included in the teaching data, a call target file list in which identification information of a call target file that is a first other file called by the file is registered, and a second that calls the file A function of creating a caller file list in which identification information of a caller file that is another file is registered for each of the plurality of files included in the teaching data ;
A function that accepts a delete command that specifies a file to be deleted and instructs to delete the file;
Based on the received delete command, the call target file list and the call source file list regarding the file specified as the delete target in the delete command are referred to, and the call target file for the file specified in the delete command and A function to delete the file specified by the delete command when none of the caller files exists;
Is realized by the computer.   In the function of creating the call target file list and the call source file list, attention is sequentially paid to each of the plurality of files included in the teaching data, and identification information of the second file called by the focused first file is obtained. 13. The registration according to claim 12, wherein the file is registered in the call target file list related to the first file, and the identification information of the first file is registered in the call source file list related to the second file. program. A program for causing a computer to function as an editing system for editing robot teaching data,
A function of acquiring the teaching data including a plurality of files;
And related to each of the plurality of files included in the teaching data, created for each of the plurality of files included in the teaching data, a first other files called by the file call The call target file list in which the identification information of the target file is registered, and the call source file list in which the identification information of the call source file that is the second other file that calls the file is registered, the call target file list and the call A function to read from the storage device in which the original file list is stored;
A function that accepts a delete command that specifies a file to be deleted and instructs to delete the file;
Based on the received delete command, the call target file list and the call source file list regarding the file specified as the delete target in the delete command are referred to, and the call target file for the file specified in the delete command and A function that deletes the file specified by the delete command on the condition that none of the caller files exists;
Is realized by the computer.

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