JP2000010618A - Robot teaching device, application manufacturing device for robot teaching device and recording medium stored with its program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot teaching device by which the teaching environment of a robot corresponding to a work being an object is easily constructed in a short time, a robot teaching device application manufacturing device by which an operation teaching application which is used for the robot teaching device and easily changed so as to be adapted in accordance with an object work is efficiently generated and a recording medium stored with its program. SOLUTION: An AP component selected from a component library 3 by a robot teaching device developer is integrated in an AP developing part 5, the operation teaching application is generated and the generated application is stored in a tool class library 1. Then, the operation teaching application is selected from the tool class library in accordance with the object work and outputted to the robot teaching device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device for teaching a robot, which is equipped with a tool, to perform an operation of a tool on an object to be worked, and an operation teaching application used for the robot teaching device. The present invention relates to a robot teaching device application manufacturing apparatus and a recording medium storing the program.

[0002]

2. Description of the Related Art Robots perform work based on teaching data given in advance. Since the conventional method is a teaching method using a teaching pendant, it takes time and effort to change tools and work contents, so that it is suitable only in a situation where mass production is performed by one teaching.

Since the teaching cost required for the teaching operation and the robot system purchasing cost are not profitable in small and medium-sized factories, it is strongly desired to simplify the teaching work in order to widely apply robots. Until now, in order to reduce teaching costs, it is necessary to construct a user interface using media such as images, videos, etc., delete the degree of freedom of robot operation unnecessary for work, and use a database that has accumulated expertise of skilled workers Processing such as reducing the amount of teaching has been performed by the developer for each operation.

[0004]

In the conventional robot teaching device, it is necessary to develop individual devices and applications (hereinafter, abbreviated as AP) for each target operation, so that it is economical in various fields. There is a problem that it is not possible to realize a robot system with a reasonable cost.

[0005] The present invention has been made in view of the above,
Its purpose is to provide a robot teaching device capable of easily and quickly constructing a teaching environment of a robot according to a target task, and to be used in the robot teaching device so as to be adapted to a target task. An object of the present invention is to provide an application manufacturing apparatus for a robot teaching device that can efficiently create an operation teaching application that can be changed to a program, and a recording medium that records the program.

[0006]

According to one aspect of the present invention, there is provided a robot teaching apparatus for teaching an operation of a tool to a work target to a robot equipped with the tool and performing an operation. Wherein the robot teacher has a function of inputting a condition of a tool operation on the work target, and a function of outputting tool information including numerical attributes including a target position, a speed, a force, a posture, and an action of the tool. Tool operation information based on an operation teaching application including a plurality of AP components, and the tool information supplied from the operation teaching application and work information including a shape of a work object input from the outside. And an operation information processing means for generating and outputting the same.

According to the first aspect of the present invention, in an operation teaching application composed of a plurality of AP components, a robot teacher inputs a condition of a tool operation on a work object, and sets a target position, a speed, and a speed of a tool. Power,
Outputs tool information composed of numerical attributes including posture and action, and generates tool operation information based on tool information supplied from the operation teaching application and work information including the shape of a work object input from the outside In addition, the operation teaching application composed of the AP component is selected and rearranged for each target operation, and the AP component constituting the operation teaching application is changed so that the robot teaching device can be attached to each work target. It can be easily and efficiently constructed accordingly.

[0008] The present invention according to claim 2 is based on claim 1.
In the invention described in the above, the operation teaching application allows the instructor to input the tool information by visual means including a character, a numerical value input, a scroll bar, a task bar moving operation, a figure dragging and a drop operation. The gist is that it is configured.

According to the second aspect of the present invention, in the operation teaching application, the input of the tool information is performed by the instructor by inputting a character, a numerical value, a scroll bar, a task bar moving operation, a figure dragging and dropping operation. It can be performed by a standard means.

[0010] Further, the present invention according to claim 3 provides the invention according to claim 1.
In the invention described in the description, the operation teaching application has means for presenting work information supplied from the operation information processing means on a screen including characters, numerical values, still images, moving images, and scroll bars. And

According to the third aspect of the present invention, the operation teaching application presents the work information on a screen composed of characters, numerical values, still images, moving images, and scroll bars.

Further, the present invention described in claim 4 provides the present invention according to claim 3.
In the invention described in the above, the operation teaching application inputs an axis, a surface, or a path as a reference of work by the instructor with respect to the work information presented on the screen, and inputs characters, numerical values,
The gist of the present invention is to have means that can be described by visual means including a scroll bar, a task bar moving operation, a graphic drag and a drop operation.

[0013] According to the present invention, the operation teaching application uses the work information presented on the screen to indicate the axis, plane or path on which the instructor is to work based on characters,
Numeric input, scroll bar, taskbar move operation,
It can be described by visual means such as dragging and dropping a figure.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the operation information processing means includes a user interface processing unit for processing information input from the teacher.
An information combining unit that combines work information input from the outside and input information from the user interface processing unit,
The work information from the information synthesizing unit is supplied to the operation teaching application, and the tool operation is performed based on the tool information supplied from the operation teaching application and the work information including the shape of the work object input from the outside. The present invention has an information transmission unit that generates and outputs information.

According to the fifth aspect of the present invention, the operation information processing means is configured to output the tool operation information based on the tool information supplied from the operation teaching application and the work information including the shape of the work object input from the outside. Is generated and output.

According to a sixth aspect of the present invention, there is provided a recording medium for recording a program for a robot teaching device for teaching a robot, which is equipped with a tool, to perform an operation on an object to be worked, comprising: Has a function of inputting tool operation conditions for a work target, and a function of outputting tool information composed of numerical attributes including a target position, speed, force, posture, and action of the tool. An operation teaching application including an AP component is provided, and tool operation information is generated and output based on the tool information supplied from the operation teaching application and work information including a shape of a work target input from the outside. The gist of the present invention is to record a program for a robot teaching device to be recorded on a recording medium.

According to the sixth aspect of the present invention, in an operation teaching application composed of a plurality of AP components, a robot teacher inputs a condition for operating a tool on a work target, and sets a target position, speed, and speed of the tool. Power,
Outputs tool information composed of numerical attributes including posture and action, and generates tool operation information based on tool information supplied from the operation teaching application and work information including the shape of a work object input from the outside Since the program for the robot teaching device, which is output as a program, is recorded on a recording medium, the distribution of the program can be improved by using the recording medium.

According to a seventh aspect of the present invention, there is provided an application manufacturing apparatus for a robot teaching device for manufacturing an operation teaching application used by being incorporated in a robot teaching device, comprising: a tool class library for storing the operation teaching application; An operation teaching application is created by integrating a component library storing a plurality of AP components constituting the operation teaching application and an AP component selected from the component library by a robot teaching device developer; AP development means for storing in the tool class library, one or a plurality of operation teaching applications in accordance with a target task from the tool class library, and supplying them to the robot teaching device. And summarized in that and a AP supply means.

According to the present invention, an operation teaching application is created by integrating AP components selected from a component library by a robot teaching device developer, and the created operation teaching application is stored in a tool class library. In order to select the operation teaching application from the tool class library according to the target work and supply it to the robot teaching device, simply operate the AP components that compose the operation teaching application according to the target work and rearrange them. Teaching applications can be created easily and economically.

The present invention according to claim 8 is the invention according to claim 7, wherein the application development means processes a user interface processing unit that inputs information input from a robot teaching device developer, and the application component library. An application component processing unit that supplies an application component request signal to the application signal, receives an application component corresponding to the request signal, and integrates the received application component to create an operation teaching application. An operation teaching application processing unit that supplies information to be stored in a class library and receives information on a configuration application component from the tool class library , And summarized in that a control unit provides an output request signal to the application supply means of the application component operations teachings applications created by the processing unit.

According to the present invention, an operation teaching application is created by integrating application components selected from the component library by a robot teaching device developer, and the created operation teaching application is stored in the tool teaching tool. Store in class library.

Further, the present invention described in claim 9 provides the present invention in claim 7.
In the described invention, the tool class library is:
The gist is that the operation teaching application for each operation is classified and stored according to the similarity of the combination of the AP components constituting the operation teaching application.

According to the ninth aspect of the present invention, the tool class library classifies and stores the operation teaching applications for each operation according to the similarity of the combination of the AP components constituting the operation teaching application.

According to a tenth aspect of the present invention, in the invention of the seventh aspect, the tool class library is configured to store an operation teaching application for each operation in a tree structure. .

According to the tenth aspect of the present invention, the tool class library stores operation teaching applications for each operation in a tree structure.

The present invention according to claim 11 is the invention according to claim 7, wherein the tool class library stores an operation teaching application for each operation in a data structure accessible by a neuro. The gist is that

According to the eleventh aspect of the present invention, the tool class library stores the operation teaching application for each operation in a data structure accessible by a neuro.

Further, the present invention according to claim 12 is characterized in that, in the invention according to claim 7, the tool class library is configured to store an operation teaching application for each work in a hash structure. And

According to the twelfth aspect of the present invention, the tool class library stores operation teaching applications for each task in a hash structure.

According to a thirteenth aspect of the present invention, in the seventh aspect of the present invention, the AP developing means is capable of inputting characters and numerical values,
The gist of the present invention is to select and integrate the AP components by visual means including a scroll bar, a task bar moving operation, a figure dragging and a drop operation.

According to the thirteenth aspect of the present invention, selection and integration of AP components are performed by visual means including input of characters and numerical values, movement of a scroll bar and a task bar, and drag and drop of a figure. be able to.

According to a fourteenth aspect of the present invention, in the seventh aspect of the present invention, the component library includes a plurality of AP components related to a work, a position, a speed, a force, a posture, and an action of a tool. The gist is that it is configured to be divided into three groups, that is, an operation including an object, a position, a speed, a force, and a posture of a tool, and an operation of a tool, and stored in three groups.

According to the fourteenth aspect of the present invention, the component library stores a plurality of AP components relating to the work object, the position, speed, force, posture, and action of the tool, the work object, the position, speed, and force of the tool. , The operation including the posture, and the action of the tool are divided and stored.

Further, the present invention described in claim 15 is characterized in that, in the invention described in claim 7, the component library is configured to store AP components in a tree structure.

According to the present invention, the component library stores the AP components in a tree structure.

According to a sixteenth aspect of the present invention, in the seventh aspect of the present invention, the component library includes A
The gist is that the P component is configured to be stored in a hash structure.

According to the present invention, the component library stores the AP components in a hash structure.

According to a seventeenth aspect of the present invention, in the seventh aspect, the component library is configured to store an AP component in a data structure accessible by a neuro. I do.

According to the seventeenth aspect of the present invention, the component library stores the AP components in a data structure accessible by a neuro.

The present invention according to claim 18 is a recording medium storing a program for an application manufacturing device for a robot teaching device for manufacturing an operation teaching application to be incorporated in a robot teaching device and used. Are stored in a tool class library, and a plurality of APs constituting an operation teaching application are stored.
Store components in the component library,
The operation teaching application is created by integrating the AP components selected from the component library by the robot teaching device developer, and the created operation teaching application is stored in the tool class library. The gist is to select a plurality of operation teaching applications from the tool class library and record a program for a robot teaching device application manufacturing device supplied to the robot teaching device on a recording medium.

According to the eighteenth aspect of the present invention, an operation teaching application is created by integrating AP components selected from a component library by a robot teaching device developer, and the created operation teaching application is stored in a tool class library. And the operation teaching application is selected from the tool class library according to the target work, and the program for the robot teaching device application manufacturing device to be supplied to the robot teaching device is recorded on the recording medium. Thus, its distribution can be improved.

[0042]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1A is a block diagram illustrating a configuration of an application manufacturing apparatus for a robot teaching device (hereinafter, referred to as an AP manufacturing device for a robot teaching device) according to an embodiment of the present invention. The AP manufacturing apparatus for a robot teaching device according to the present embodiment includes a tool class library 1 for storing a plurality of operation teaching applications (hereinafter, referred to as operation teaching APs) and a component library for storing a plurality of AP components constituting the operation teaching AP. 3. An AP development unit 5 that integrates AP components selected from the component library 3 by the robot teaching device developer to create an operation teaching AP, and stores the created operation teaching AP in the tool class library 1. It comprises an AP supply unit 7 for outputting the operation teaching AP created by the unit 5 and stored in the tool class library 1 to the robot teaching device, and a display 9 for displaying GUI (graphical user interface) information and the like. ing. AP Development Department 5
As shown in FIG. 1B, is composed of a user interface processing unit 51a, an AP component processing unit 51b, an operation teaching AP processing unit 51c, and a control unit 51d.

The output of the operation teaching AP in the AP supply unit 7, that is, the supply of the operation teaching AP to the robot teaching device can be performed by using a commercially available storage medium or communication.

The component library 3 is composed of W, Ac, Vf, Wf,.
AP components represented by v, We, etc. are represented by a tree.
Store in structure. The branch in the tree structure, that is, the branch indicated by reference numeral 39 in FIG.
This indicates that the function is inherited from the P component to the lower AP component.

As shown in FIG. 3, each AP component W, Ac, V stored in the component library 3
f, Wf,..., Rv, We will be described. AP
As shown in FIG. 10, the component W is an AP component that presents information on the work 10B, which is a work target, on the display 9 as a 3D image or the like.

Ac, Vf, Wf, and Nc each have a function of W, and Ac represents an axis on which the tool is constrained, and Vf represents a virtual axis on which the tool is constrained. A surface, Wf is an object surface to be constrained by the tool, and Nc is an AP component having a function of describing the path of the tool in the tool information.

As shown in FIG. 12, the AP component Gc is an AP component that describes, in tool information, constraint conditions for any one of the six degrees of freedom of the tool.

P, V, and A have the function of Gc. For any degree of freedom of the tool, P represents a position constraint, V represents a velocity constraint, and A represents a posture. It is an AP component having a function of describing constraint conditions in tool information by input of a teacher.

Pf and Pl have a function of P, and a function of giving a target value with a constraint value of position and inputting a target value with an inequality constraint to a position constraint condition by an input of a teacher and describing the target value with an inequality constraint in tool information. An AP component having

F is an AP component having the function of Gc and having the function of describing the constraint of the force on any of the degrees of freedom of the tool in the tool information by the input of the teacher.

Fv and Fc have a function of F, and Fv gives a target value to the constraint condition of the force and Fc gives a target value to the constraint condition of the force and the position, respectively. An AP component having a function described in.

Af, Al, and Av have the function of A, and Af is the target value, Al is the target value with inequality constraints, and Av is the open value in the constraint condition of the posture by the input of the teacher. (A mantissa value not a specific value) and is an AP component having a function of describing in tool information.

Ic is an AP component having a storage for describing unique operation conditions of each tool in tool information.

Rv and We have the function of Ic, and Rv represents the target rotation speed of the tool, and We represents the function of describing the movement pattern of the target path of the tool in the tool information according to the input of the teacher. AP component.

The tool class library 1 is, for example, as shown in FIG.
As shown in (1), the operation instruction AP indicated by O for each operation is stored in a tree structure. Note that the branch of the tree structure, that is, the branch of the tree structure indicated by reference numeral 49 in FIG. 4 indicates that the AP component forming the upper operation teaching AP is inherited by the lower operation teaching AP. Is shown. Further, each branch point marked with a circle, for example, a branch point indicated by 48 in FIG. 4, indicates that an operation teaching AP in which one or a plurality of AP components are integrated is stored. To create a tree structure, a similarity is calculated using a clustering method based on a combination of AP components as shown in FIG. 5 that constitute an operation teaching AP for each tool operation, and a result of classification is used. I have.

Next, the operation of the AP manufacturing apparatus for a robot teaching device configured as described above will be described with reference to the flowchart shown in FIG.

The AP development unit 5 accesses the tool class library 1 and acquires tool class library information including the operation teaching AP stored in the tool class library 1, and as shown in FIG. Is displayed on the display 9 and presented to the developer (step S1).
1). The developer observes the displayed list of tool class libraries and checks whether or not the target operation instruction AP for the work exists in the tool class library (step S13). If present, the operation instruction A
P is read from the tool class library 1 and output as a recording medium via the AP supply unit 7 (step S2).
9).

If there is no operation instruction AP for the target operation, the operation development AP 5 for the most similar operation is selected from the displayed list of the tool class library with the mouse cursor. The selected operation teaching AP is read from the tool class library 1, a list of AP components constituting the read operation teaching AP is read from the component library 3, and displayed on the display 9 as shown in FIG. 8 (step S15).

The AP development unit 5 accesses the component library 3 and displays a list of AP components stored in the component library 3 on the display 9 as shown in FIG. 7 (step S1).
7). Then, the AP development unit 5 checks from the displayed list of AP components whether there are sufficient AP components for the target work in the component library (step S19). If not, an AP component is created and added to the component library 3 (steps S21, S23).

Then, the AP development unit 5 proceeds to step S1
Unnecessary AP components are deleted from the AP components making up the operation teaching AP selected in Step 5, and the missing AP components are selected from the component library 3 and added or replaced (Step S25).
For example, as shown in FIG. 8, the AP component Pf corresponding to the AP component constituting the selected operation teaching AP is deleted, the AP component Pl is selected and added from the component library 3, and the AP component is rearranged. Then, a new operation teaching AP is created by preparing AP components sufficient for the target work, and registered in the tool class library 1 (step S2).
7). Then, the new operation instruction AP is transmitted to the AP supply unit 7.
(Step S29).

As described above, in the AP manufacturing apparatus for the robot teaching device according to the present embodiment, the portion of the existing operation teaching AP stored in the tool class library which does not need to be changed is replaced with the AP.
The components can be shared and reused, and the parts that need to be changed can be reconstructed by a simple operation of changing the AP components. Further, the component library and the tool class library are configured in a tree structure based on the object-oriented technology, and the functions of the upper layer are inherited by the lower layer, so that the AP component and the operation teaching AP can be efficiently developed.
In addition, the component library can be constructed with another hash structure or a data structure that can be accessed by a neuro, and even if a library having such a structure is used, the efficiency of development of the operation teaching AP can be similarly increased. be able to.

Next, a robot teaching device according to another embodiment of the present invention will be described with reference to FIG.
The robot teaching device illustrated in FIG. 2A receives the operation teaching AP created by the robot teaching device AP manufacturing apparatus as described above, and incorporates the operation teaching AP 11 therein.
An operation information processing unit 13 that generates tool operation information based on tool information supplied from the operation teaching AP and work information including the shape of a work object input from the outside, and a display 15 that displays GUI information Have been. Further, as shown in FIG. 2B, the operation information processing unit 13 includes a user interface processing unit 13a, an information transmission unit 13b, and an information synthesis unit 13c.

Next, the operation of the robot teaching apparatus according to the present embodiment will be described with reference to the flowchart shown in FIG. In the robot teaching device of the present embodiment, the operation teaching A11 for the brush wheel is used as the operation teaching AP11.
However, in the present description, in order to grind the burrs 10A formed on the work as the work object as shown in FIG. 10, an operation teaching A for a cylindrical grindstone grinder is newly provided.
P11a is added. The operation teaching AP for the brush wheel is Vf, P selected from the component library 3 of the AP manufacturing device for the robot teaching device.
It is composed of AP components of 1, V, Fc, Af, Al, Av, Rv, and We. The operation teaching AP for the cylindrical grindstone grinder is selected from Vf, Pl, V, Fc, Af, Al, selected from the component library 3.
It is composed of Av, Rv, and We AP components.

In FIG. 14, first, the operation teaching AP11 of the target work is selected and started (step S4).
1), the operation teaching AP11 for the work to be targeted in the selective activation, that is, the operation teaching AP11 for the cylindrical grindstone grinder capable of grinding the burrs 10A formed on the work shown in FIG. It is checked whether or not it exists (step S43). If not, the operation teaching AP for the new cylindrical grindstone grinder is created and added by the robot teaching device AP manufacturing apparatus (step S45). As a result, a column grindstone grinder is added to the tool selection screen 93 of the work description screen shown in FIG.

Next, the operation information processing section 13 checks whether or not there is work information of the target work (step S).
47) If there is no work information, the operation information processing unit 13 reads work information created externally (step S49) and presents it on the work selection screen 91 in FIG. The work selected by the instructor is displayed as a three-dimensional image on the display 15 as shown in FIG. then,
The instructor selects a desired work from the work selection screen 91 and arranges it on the work assembly screen 92 by dragging and dropping the mouse.

The instructor selects, from the tool selection screen 93, a tool for performing a work on the work arranged on the work assembly screen 92, and arranges the work on the work assembly screen 92 by dragging and dropping the mouse. (Step S51).

Next, when the instructor selects an arbitrary work from the work assembling screen 92, the necessary operation is performed by operating the tool combined with the work by the function of the AP component Vf of the operation teaching AP for the grinding wheel grinder. A screen for writing the constraint plane (reference plane) (11A in FIG. 11) on the work screen is presented as shown in FIG. 11 (step S53), and a mouse operation 11B and a scroll bar operation 11D shown in FIG. The tool information of the reference plane is created and written by means such as a numerical value and character input screen 11C (step S55).

Next, the instructor selects an arbitrary tool from the work assembly screen 92 to input the reference plane (for example, the reference plane 11A in FIG. 11 corresponds to the reference plane 12C in FIG. 12). An input screen as shown in FIG.
Gain from the function of. This input screen displays the AP components P1, V, F of the operation teaching AP for the cylindrical grinder.
With the functions of c, Al, Av, Rv, and we, a screen 12A for inputting, for example, target positions, postures, forces, speeds, rotation speeds, weaving patterns, and the like, which are sufficient and sufficient tool information for determining the operation of the tool, is presented. Then, the operation condition is input by mouse operation 12D, numerical value, character input, and the like from the instructor, and is disabled in the tool information (step S57).

Then, it is checked whether or not there is a tool to be used other than the above-mentioned tools. If there is another tool to be used, the flow returns to step S43 to repeat the same processing. Then, the operation information processing unit 13 combines the work information and the tool information input from the operation teaching AP to create and output tool operation information (steps S61 and S63). The output tool operation information is converted by another processing unit into a robot language corresponding to the use of each manufacturer's robot, and the robot operation is performed.

The operation information processing section 13 can present the generated tool operation information as a simulation screen 94 shown in FIG. 9 by selecting a trace (T) on the menu bar shown in FIG. it can.

As described above, in the robot teaching device of the present embodiment, even when the target work is changed, the operation of another work tool can be performed only by incorporating the corresponding operation teaching AP. In addition, the instructor can teach the work in a unified procedure for different works. Furthermore, the operation of each tool operation has a common part, and the common part is the same A
As a P component, non-common parts can be made into components as operation teaching APs by separate AP components, enabling efficient construction of operation teaching APs by combining a small number of reusable components, and It can provide a teaching environment of its own.

[0072]

As described above, according to the robot teaching device of the present invention, in the operation teaching application composed of a plurality of AP components, the robot teacher inputs the conditions of the tool operation on the work object, Outputs tool information composed of numerical attributes including target position, speed, force, posture, action of the object, and tool information supplied from the operation teaching application and work information including the shape of a work object input from the outside The tool operation information is generated and output based on the application, so that the operation teaching application composed of the AP component is selected and rearranged for each target operation, and the robot component is changed by changing the AP component constituting the operation teaching application. Easy and efficient construction of teaching devices according to each work object Bets can be, it can be realized robot teaching apparatus having a short time possible reconstruction of low-cost system structure to changes in the work in question.

Further, according to the robot teaching device application manufacturing apparatus of the present invention, the AP selected from the component library by the robot teaching device developer.
The operation teaching application is created by integrating the components, the created operation teaching application is stored in the tool class library, the operation teaching application is selected from the tool class library according to the target work, and supplied to the robot teaching device. The operation teaching application can be created easily and economically simply by changing the AP components constituting the operation teaching application according to the target work and rearranging them, and the parts to be changed of the robot teaching device according to the target work can be shortened. An application manufacturing apparatus for a robot teaching device that can be easily developed in a short time can be realized.

Further, according to the present invention, since a common AP component can be used for a common part of each operation, a teaching environment having the same usability can be provided.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an application manufacturing apparatus for a robot teaching device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of an application manufacturing apparatus for a robot teaching device according to another embodiment of the present invention.

FIG. 3 is a diagram illustrating a configuration of a component library used in the application manufacturing apparatus for a robot teaching device in FIG. 1;

FIG. 4 is a diagram illustrating a configuration of a tool class library used in the application manufacturing apparatus for the robot teaching device in FIG. 1;

5 is an operation teaching A used in the robot teaching device application manufacturing device and the robot teaching device in FIG.
FIG. 3 is a diagram illustrating a configuration of an AP component configuring P.

FIG. 6 is a diagram showing a list of tool class libraries and a selection screen of an operation teaching AP displayed on a display in the robot teaching device application manufacturing apparatus of FIG. 1;

7 is a diagram showing a list of component libraries and an AP component selection screen displayed on a display in the application manufacturing apparatus for a robot teaching device of FIG. 1;

8 is a diagram showing a construction screen of an operation teaching AP by combining AP components in the application manufacturing apparatus for a robot teaching device in FIG. 1;

FIG. 9 is a diagram showing a work description screen in the robot teaching device of FIG. 2;

FIG. 10 is a diagram showing a display screen of work information in the robot teaching device of FIG. 2;

11 is a diagram showing an input screen of a reference plane by an AP component Vf in the robot teaching device of FIG. 2;

FIG. 12 is a diagram showing an input screen of a geometric condition of a tool in the robot teaching device of FIG. 2;

FIG. 13 is a flowchart showing an operation of the application manufacturing apparatus for a robot teaching device shown in FIG. 1;

FIG. 14 is a flowchart showing the operation of the robot teaching device shown in FIG. 2;

[Explanation of symbols]

 Reference Signs List 1 tool class library 3 component library 5 AP development unit 7 AP supply unit 9 display 11 operation teaching AP 13 operation information processing unit 15 display

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Makoto Mizukawa 3-19-2 Nishishinjuku, Shinjuku-ku, Tokyo Nippon Telegraph and Telephone Corporation F-term (reference) 3F059 BC06 FA03 5H269 AB07 AB33 BB09 CC09 EE11 NN16 QB15 QC06 QC06 QC10 QE03 QE10 QE22 QE24 QE26 SA08 SA10

Claims (18)

[Claims] 1. A robot teaching device for teaching a robot, which is equipped with a tool, an operation of a tool with respect to a work target, wherein the robot teacher inputs a condition of a tool operation with respect to the work target. And the target position, speed, force,
It has a function of outputting tool information composed of numerical attributes including posture and action, an operation teaching application composed of a plurality of application components, and the tool information supplied from the operation teaching application and input from outside An operation information processing means for generating and outputting tool operation information based on work information including a shape of a work object to be performed. 2. The operation teaching application allows the instructor to input the tool information by visual means including a character, a numerical value input, a scroll bar, a task bar moving operation, a figure dragging and a drop operation. The robot teaching device according to claim 1, wherein the robot teaching device is configured. 3. The operation teaching application has means for presenting work information supplied from the operation information processing means on a screen including characters, numerical values, still images, moving images, and scroll bars. Claim 1
The robot teaching device as described in the above. 4. The operation instruction application includes inputting characters, numerical values, a scroll bar, a task bar moving operation, an axis, a surface, or a path, which is used as a reference for the work by the instructor with respect to the work information presented on the screen. 4. The robot teaching device according to claim 3, further comprising a unit that can be described by visual means including a drag and drop operation. 5. An operation information processing means, comprising: a user interface processing section for processing information input from a teacher; and information synthesis for synthesizing work information input from outside and input information from the user interface processing section. And the work information from the information synthesizing unit to the operation teaching application, and based on the tool information supplied from the operation teaching application and the work information including the shape of the work object input from the outside. 2. The robot teaching device according to claim 1, further comprising: an information transmission unit configured to generate and output tool operation information. 6. A recording medium storing a program for a robot teaching device for teaching a robot operating with a tool an operation of the tool with respect to a work target, wherein the robot teacher has a tool for the work target. It has a function to input operation conditions, and the target position, speed, force,
It has a function of outputting tool information composed of numerical attributes including posture and action, and has an operation teaching application composed of a plurality of application components. The tool information supplied from the operation teaching application and externally A recording medium storing a program for a robot teaching device, wherein tool operation information is generated and output based on work information including a shape of an input work target. 7. An application manufacturing apparatus for a robot teaching device that manufactures an operation teaching application used by being incorporated in a robot teaching device, comprising: a tool class library that stores the operation teaching application; An application for creating an operation teaching application by integrating a component library storing application components and an application component selected from the component library by a robot teaching device developer, and storing the created operation teaching application in the tool class library Selecting one or a plurality of operation teaching applications from the tool class library according to a development means and a target task; Robot teaching device application manufacturing apparatus characterized by comprising an application supply means for supplying. 8. The application development unit supplies an application component request signal to the application component library, and a user interface processing unit that processes information input from a robot teaching device developer. An application component processing unit for receiving the component and integrating the received application component to create an operation teaching application; supplying the created operation teaching application to the tool class library for storage; An operation teaching application processing unit that receives component information; 8. The application manufacturing apparatus for a robot teaching device according to claim 7, further comprising a control unit that supplies an output request signal of the operation teaching application to the application supply unit. 9. The tool class library is configured to classify and store operation teaching applications for each task according to a similarity of a combination of application components constituting the operation teaching application. An application manufacturing apparatus for a robot teaching device according to claim 7. 10. The robot teaching device application manufacturing apparatus according to claim 7, wherein the tool class library is configured to store an operation teaching application for each task in a tree structure. 11. The application for a robot teaching apparatus according to claim 7, wherein the tool class library is configured to store an operation teaching application for each task in a data structure accessible by a neuro. manufacturing device. 12. The apparatus according to claim 7, wherein the tool class library is configured to store an operation teaching application for each task in a hash structure. 13. The application development means includes a character,
Numeric input, scroll bar, taskbar move operation,
8. The application manufacturing apparatus for a robot teaching device according to claim 7, wherein the application components are selected and integrated by visual means including a drag and drop operation of a figure. 14. The component library includes a plurality of application components related to a work object, a position, a speed, a force, a posture, and an action of a tool. The application manufacturing apparatus for a robot teaching apparatus according to claim 7, wherein the apparatus is configured to be divided into three groups of actions and stored. 15. The apparatus according to claim 7, wherein the component library is configured to store application components in a tree structure. 16. The application manufacturing apparatus according to claim 7, wherein the component library is configured to store application components in a hash structure. 17. The application manufacturing apparatus for a robot teaching device according to claim 7, wherein the component library is configured to store the application components in a data structure accessible by a neuro. 18. A recording medium storing a program for an application manufacturing device for a robot teaching device for manufacturing an operation teaching application used by being incorporated in a robot teaching device, wherein the operation teaching application is stored in a tool class library, and A plurality of application components constituting the teaching application are stored in a component library, an application component selected from the component library by a robot teaching device developer is integrated to create an operation teaching application, and the created operation teaching application is created. Select one or a plurality of operation teaching applications from the tool class library according to the target work, Recording medium recording a robot teaching device application manufacturing equipment program and supplying the location.