JP6958294B2 - Teaching data display device, teaching data display method - Google Patents

Description

The present invention relates to a teaching data display device for displaying teaching data of a robot and a teaching data display method.

The robot records what kind of movement it will perform by teaching, and performs the actual work by reproducing the recorded movement. In this teaching, in addition to the conventional method of recording an operation by a program, in recent years, a method of recording an operation by an operator operating a robot has been adopted (see, for example, Patent Document 1). Hereinafter, the teaching by the program will be referred to as text-based, and the teaching by operating the robot will be referred to as direct teaching.

Japanese Unexamined Patent Publication No. 2017-74669

By the way, when teaching by direct teaching, it is considered that the teaching work itself can be easily performed, but the maintainability of the teaching data, which is important in the actual field, may be lower than that of the text-based one.

This is because, in the case of text-based, the teaching data is described in a command format such as a movement command, so that the movement of the robot can be grasped relatively easily by looking at the teaching data, while the direct teaching is performed. In this case, since the position of the robot and the posture at that time are recorded as a list of numerical values in the teaching data, it is difficult to grasp the operation of the robot just by looking at the teaching data, that is, in the teaching data. This is due to poor readability.

Further, for example, in the case of a vertical articulated robot, the teaching data includes three-axis data such as the position in space (X, Y, Z) and the orientation of the hand such as (RX, RY, RZ). Since the data including the rotation component is recorded in time series and has at least 7-dimensional elements, it is important how the robot's work contents can be presented in an easy-to-understand manner from these data.

Therefore, a teaching data display device and a teaching data display method capable of improving the readability and maintainability of the teaching data recorded by direct teaching are provided.

In the invention described in claim 1, first, from the teaching data recorded by direct teaching, the operating point, which is the operating point on which the robot acts on the outside, is extracted from the plurality of operating points constituting the movement locus of the robot. When presenting the work contents of the robot, it is desirable to be able to understand how the robot operates and at what position the robot is working. Therefore, by specifying the operating point at which the robot is performing work that affects other than the robot itself, such as gripping the work, it is possible to specify the position where the work is being performed.

Then, a work plane representing the movement locus from the first action point at which the robot starts the work to the second action point at which the work is completed among the extracted action points is set, and the first action point to the second action point are set. Generates a movement presentation figure that schematically shows the movement trajectory of the robot to the point of action of the robot along with its direction, and a work presentation figure that shows the work contents of the robot at the first point of action and the second point of action. do.

This makes it possible to more accurately grasp the movement locus when visualizing the movement of the robot. At this time, the movement presentation figure can be generated by an operating point located between the first operating point and the second operating point, an arrow line connecting the operating points, or the like. Further, the work presentation figure can be generated, for example, in the case of a work of gripping a work, a figure that schematicallys the open / closed state of the chuck, that is, a figure that represents the driving state of the tool or the like.

Then, an image in which the generated movement presentation figure and the work presentation figure are positioned on the work plane is displayed on the display unit. This allows the robot to move from the first point of action to the second point of action, at what position it is working, and to drive the tool at the first and second points of action. It is possible to easily visually grasp what the state is like. Then, if the driving state of the tool is known, it is possible to grasp, for example, whether it is an operation of gripping the tool or an operation of placing the tool.

In this way, by displaying the movement of the robot and the work at the point of action graphically, the readability of the teaching data recorded by the direct teaching can be improved. Therefore, the work content recorded in the teaching data can be easily grasped, and maintainability can be greatly improved.

In addition, since a plurality of teaching data may be stored in the actual site, it is considered that the longer the period after the robot is installed, the more teaching data will be stored. The longer the period and the greater the need for maintenance, the lower the maintainability, but the readability increases due to the above configuration, so the maintainability decreases even if the number of teaching data increases. Can be prevented.

In the invention described in claim 2, among the operating points included in the movement locus of the robot, the operating points are not included within a predetermined determination distance from the operating points extracted as the operating points, and the tool attached to the robot operates. An operating point that satisfies any one or more of the conditions that the robot's hand position is stopped for a certain period of time or longer is extracted as an operating point.

Since the robot can be controlled at a small distance, a plurality of operating points may be extracted as operating points at almost the same position. In that case, if all the extracted points of action are displayed, the display may become complicated and the readability may be deteriorated. Therefore, by not extracting the operating points within a predetermined determination distance from the operating points extracted as the operating points as the operating points, it is possible to suppress the deterioration of readability.

In addition, since the operating point at which the tool attached to the robot operates is considered to be the operating point that the operator wants to grasp, by extracting it as the operating point, the work content is appropriately displayed, that is, presented to the operator. can do.

Further, when the robot grabs the work or moves to the upper part of the target position and then descends, it is considered that the hand position of the robot stops for a certain period of time or more. Therefore, by extracting the operating point that has stopped for a certain period of time or longer as the operating point, the movement locus of the robot and the work content can be appropriately presented.

According to the invention described in claim 3, the principal component analysis is performed on the operating points located between the first operating point and the second operating point, and the dispersion of the operating points is maximized. A plane including the principal component axis and the second principal component axis having the largest dispersion of operating points excluding the first principal component axis is set as the working plane. As a result, the plane that best represents the movement locus of the robot, in other words, the plane that most accurately reproduces the movement locus of the robot is set as the work plane, and the movement locus of the robot can be displayed accurately.

According to the invention described in claim 4, when the set work plane is tilted with respect to the vertical plane perpendicular to the installation plane of the robot, the projection plane obtained by projecting the work plane onto the vertical plane is obtained, and the obtained projection plane is obtained. Is set as a new work plane.
The work plane set by the principal component analysis can most accurately reproduce the movement trajectory of the robot, but the plane tilted with respect to the vertical direction of the robot may be set as the work plane.

In that case, it may be difficult to grasp it sensuously, and it is assumed that a strict movement trajectory is not always necessary for the purpose of improving readability. Therefore, the vertical direction of the image to be displayed and the vertical direction of the robot are assumed. By matching the directions, the display can be displayed in a manner that is easy for the operator to grasp. Of course, even the work plane set by the principal component analysis may not be tilted with respect to the vertical direction of the robot.

According to the fifth aspect of the present invention, a plane including the first operating point and the second operating point and perpendicular to the installation surface of the robot is set as the working plane, and the first operating point and the first A moving presentation figure is generated for a projection of the operating point between the two points of action on the work plane. As a result, the robot can be displayed in a state almost the same as when the operator sees the robot with his / her own eyes, and the operation of the robot can be intuitively grasped.

According to the sixth aspect of the present invention, the interval between the work presentation figures to be displayed is constant regardless of the actual distance from the first point of action to the second point of action. As a result, the space between the work presentation figures is not narrowed, and the work presentation figures can be easily visually recognized, so that the work contents can be easily grasped.

According to the invention described in claim 7, the interval between the work presentation figures to be displayed is changed according to the actual distance from the first point of action to the second point of action. As a result, not only the work content but also the moving distance of the robot can be roughly grasped, and the work content can be grasped in detail.

According to the invention described in claim 8, when a plurality of work processes are included in the teaching data, a work plane is set for each work process, and a moving presentation figure and a work are set for each work plane. Generate and display the presentation figure.

The robot may perform a plurality of tasks in sequence, in addition to the simple task of grasping the workpiece and placing it in another place. In that case, it is assumed that the teaching data includes, for example, a plurality of pick-and-place work processes, but if all the work processes are displayed at once, the display becomes complicated and the readability becomes poor. On the contrary, it may decrease.

Therefore, by setting a work plane for each of the plurality of work processes and generating and displaying a moving presentation figure and a work presentation figure for each work plane, it is possible to easily grasp the work contents in each work process. .. It is also possible to grasp the number of work processes from the number of displayed images.

According to the invention of claim 9, when the teaching data includes a plurality of work steps, depending on the actual distance from the first point of action to the second point of action in each work step, The interval at which the work presentation figure is displayed in the display area of each work process is relatively changed. As a result, it is possible to easily grasp the difference in the movement mode in each work process just by looking at the displayed image.

According to the invention of the teaching data display method according to claim 10, the action point, which is the action point on which the robot acts on the outside, is extracted from the plurality of action points constituting the movement locus of the robot, and the robot starts the work. A work plane representing the movement locus from the first point of action to the second point of action at which the work is completed is set, and the movement presentation figure showing the movement locus of the robot in a schematic manner together with its direction, and the work of the robot. A work presentation figure showing the contents in a schematic manner is generated, and an image in which the generated moving presentation figure and the work presentation figure are positioned on the work plane is displayed.

As a result, similarly to the invention described in claim 1 described above, the readability of the teaching data recorded by direct teaching can be improved, and the work content recorded in the teaching data can be easily grasped. , Maintainability can be greatly improved.

The figure which shows typically the electrical structure of the teaching apparatus of embodiment Figure 1 showing an example of teaching data Figure 1 showing an example of a robot operating point group Diagram showing the flow of processing executed by the teaching data display device Figure 1 schematically showing an example of the display mode by the teaching data display device Figure 2 showing an example of teaching data Figure 2 showing an example of a robot operating point group FIG. 2 schematically showing an example of a display mode by the teaching data display device. Diagram schematically showing other examples of work presentation figures

Hereinafter, embodiments will be described with reference to the drawings.
As shown in FIG. 1, the teaching system 1 includes a robot 2, a controller 3, and a teaching device 4 as a teaching data display device. In the case of this embodiment, the robot 2 is assumed to be a so-called 6-axis robot, which is a vertical articulated robot, has a plurality of arms, and is used in a state where a tool is attached to a flange to be a hand. Will be done. However, the robot 2 may be composed of a so-called 7-axis robot, a horizontal articulated so-called 4-axis robot, or the like, as long as it can be directly taught.

As is well known, the controller 3 controls the operation of the robot 2 by driving a motor incorporated in the robot 2. In the case of the present embodiment, the robot 2 and the controller 3 correspond to the direct teaching in which the operator records the operation by operating the robot 2 directly or remotely. Since the direct teaching is well known, detailed description is omitted, but in the direct teaching, data that can at least specify the position of the hand and the direction of the hand when the operator moves the arm or the like of the robot 2 is used as the teaching data. Recorded.

The teaching device 4 is also called a teaching pendant, and includes a control unit 10, a storage unit 11, a display unit 12, an operation unit 13, and the like. However, the teaching device 4 is an example of a teaching data display device, and as long as it includes a display unit 12, for example, a so-called personal computer, a mobile terminal, or the like can be used as the teaching data display device.

The teaching device 4 can communicate various data with the controller 3, such as downloading the teaching data described later to the controller 3, the rotation angle of the motor capable of specifying the posture of the robot 2, the position of the hand, and the like. It has become.

The control unit 10 of the teaching device 4 includes a microcomputer provided with a CPU, ROM, RAM, and the like (not shown), and operates according to a computer program stored in the storage unit 11. Further, the control unit 10 includes an extraction unit 10a, a setting unit 10b, and a generation unit 10c. In the present embodiment, the extraction unit 10a, the setting unit 10b, and the generation unit 10c are realized by software by a computer program executed by the control unit 10.

Although the details will be described later, the extraction unit 10a determines the operating point, which is the operating point on which the robot 2 acts on the outside, among the plurality of operating points included in the movement locus of the robot 2, from the teaching data recorded by direct teaching. Extract. Details will be described later, but in the present embodiment, the position where the robot 2 performs an operation that affects something other than itself, such as grasping or releasing the work, and the hand position of the robot 2 are stopped for a certain period of time or more. The position is an operating point, that is, an operating point, on which the robot 2 acts on the outside.

Although the details will be described later, the setting unit 10b is a work plane for showing a movement locus from the first action point where the robot 2 starts the work to the second action point where the work is completed among the extracted action points. To set. Although the details will be described later, the setting unit 10b sets a plane that can best represent the movement locus from the first point of action to the second point of action as the work plane.

Although the details will be described later, the generation unit 10c is a movement presentation figure (M1; see FIG. 5) that schematically shows the movement direction of the robot 2 from the first action point to the second action point, and the first action point. A work presentation figure (M2, see FIG. 5) that schematically shows the work contents of the robot 2 at the second point of action, and the orientation of the work plane, that is, the robot 2 is placed in a three-dimensional space based on the installation position. A direction-presenting figure (M3, see FIG. 5) that schematically shows from which direction the object is viewed, and a distance-presenting figure that schematically shows the distance from the first point of action to the second point of action (M3, see FIG. 5). M4 (see FIG. 5) is generated.
The storage unit 11 stores a computer program executed by the control unit 10 and teaching data (see FIG. 2) recorded by direct teaching, although details will be described later.

The display unit 12 has an operation screen and, although details will be described later, a moving presentation figure (M1), a work presentation figure (M2), and a direction in a consular area (R. See FIG. 5) set to a predetermined size. The presentation figure (M3), the distance presentation figure (M4), and the like are displayed. The display unit 12 is composed of, for example, a liquid crystal panel or the like. It should be noted that the touch panel can also be used to be used as the operation unit 13.

The operation unit 13 is composed of a switch, a touch panel, or the like, and receives an operator's operation on the teaching device 4. As the teaching data display device, the control unit 10, the storage unit 11, and the display unit 12 do not necessarily have to be integrated. For example, the operator's operation input and display are performed by a mobile terminal, and calculation and teaching are performed. The data can be stored in another device.

Next, the operation of the above configuration will be described.
As described above, direct teaching makes the teaching work itself easier than text-based teaching, but maintainability, especially readability, may be lower than that of text-based teaching. This is because in the case of direct teaching, the teaching data records the posture of the robot 2, here the hand position and its direction by a list of numerical values, so that the movement of the robot 2 can be grasped just by looking at the teaching data. Because it is difficult.

FIG. 2 shows an example of teaching data for one cycle used when the work A is performed by the robot 2 to which the tool is attached. In the case of the robot 2, the hand position corresponds to the center position of the flange of the robot 2, and the direction of the hand corresponds to the direction of the flange.

Therefore, in the teaching data, the data of the hand position shown as "X", "Y", and "Z" in association with the data of the "operating points" in the time series order constituting the movement locus of the robot 2, "RX". , "RY", "RZ", and the data indicating the driving state of the tool, which is indicated as "Hand", are recorded. In this embodiment, a chuck that grips the work is assumed as a tool, and when "Hand" is "0", it indicates a driving state in which the chuck is open.

When viewed in a three-dimensional space based on the installation position of the robot 2, this teaching data moves in the X-axis direction, the Y-axis direction, and the Z-axis direction, as shown as a group of operating points in FIG. It is shown that. This operating point group shows the movement locus of the robot 2. Note that FIG. 3 is attached for the purpose of explanation and is not displayed by the teaching device 4. Further, P1 to P5 shown in FIG. 3 are attached for the purpose of explanation.

However, just by looking at the enumeration of numerical values as shown in FIG. 2, it is possible to grasp what kind of movement trajectory the robot 2 follows, that is, what kind of work the robot 2 is performing. It's difficult to do. Therefore, if the readability is low, it takes time and effort to select desired teaching data, and maintainability is lowered.

In this case, although the operation can be grasped by displaying the movement locus shown in FIG. 3 in an animation, for example, in chronological order, another problem may occur in that case. That is, in an actual site, it is conceivable that a plurality of teaching data are stored in the storage unit 11 in order to correspond to various tasks. Therefore, if the readability is low, it takes time and effort to select the desired teaching data, and maintenance is performed. It may lead to further deterioration of sex.

It is considered that the longer the period after the robot 2 is installed, the more teaching data will be stored. Therefore, the longer the period after the robot 2 is installed and the greater the need for maintenance, the more maintenance is performed. The sex will be further reduced.
Therefore, the teaching device 4 improves the readability and maintainability of the teaching data recorded by the direct teaching as follows.

FIG. 4 shows the flow of processing for improving the readability of the teaching data and presenting it. This process is executed by the teaching device 4 in this embodiment. When the teaching device 4 starts the process, the teaching device 4 reads the teaching data (S1). At this time, the teaching device 4 acquires a plurality of operating points [i] (however, variables i = 0, 1, 2, ... N) constituting the movement locus of the robot 2 from the teaching data.

When the teaching data is read, the teaching device 4 extracts the 0th operating point [0] and the Nth operating point [N] as operating points (S2). This operating point is an operating point at which the robot 2 affects the outside as described above, and in the present embodiment, the operating point at which the tool operates and the operating point at which the hand position of the robot 2 stops for a certain period of time or longer are shown. ing. The operating point [0] corresponds to the start position of one cycle of work A, and the operating point [N] corresponds to the end position of one cycle of work A.

Subsequently, the teaching device 4 has the following conditions A to C among the operating points from the variables i = 1 to N-1, that is, the operating points between the operating points [0] and the operating points [N]. Operating points that satisfy all of these are extracted as operating points (S3 to S8).

-Condition A: It is not included within a predetermined determination distance from the operating point extracted as the operating point.
-Condition B: The tool attached to the robot 2 operates. In this case, for example, not only the operation of gripping the work but also the operation of releasing the gripped work is included.
-Condition C: The hand position of the robot 2 is stopped for a certain period of time or longer. In this case, as a fixed time, in addition to the operating point that can be estimated that the robot 2 is performing the work, the time that can detect the operating point that can be estimated that the moving direction of the robot 2 has changed is set.

That is, in the present embodiment, the teaching device 4 is attached to the robot 2 so that the operating points included in the movement locus of the robot 2 are not included within a predetermined determination distance from the operating points extracted as the operating points. An operating point that satisfies all the conditions that the tool is operated and that the hand position of the robot 2 is stopped for a certain period of time or longer is extracted as an operating point.

Specifically, the teaching device 4 determines whether or not the condition A is satisfied (S4), and if the condition A is satisfied (S4: YES), whether or not the condition B is satisfied. (S5), if condition B is satisfied (S5: YES), whether or not condition C is satisfied (S6), and if condition C is satisfied, (S6: YES), the operating point [i] for which all the conditions are satisfied is extracted as the operating point [j] (however, the variables j = 0, 1, 2, ... M) (S7). The operating point [0] is extracted as the operating point [0], and the operating point [N] is extracted as the operating point [M].

Subsequently, the teaching device 4 determines whether or not the determination of all operating points is completed (S8), and if the determination is not completed (S8: NO), proceeds to step S3 and repeats the extraction. .. The teaching device 4 shifts to step S8 even when any of the conditions is not satisfied (S4: NO, S5: NO, and S6: NO).

On the other hand, when it is determined that the determination of all operating points is completed (S8: YES), the teaching device 4 specifies the work process (S9). Here, the work process is a division of one cycle of work. In the present embodiment, one step is a section until the driving state of the tool changes. At this time, the teaching device 4 sets the point of action at which the work process is started as the first point of action, and sets the point of action at which the work process ends as the second point of action. In this case, the second point of action in one step corresponds to the first point of action in the next step.

When the work process is specified, the teaching device 4 sets the work plane (S10). As this work plane, a plane that can best represent the movement locus from the first point of action to the second point of action is set. Specifically, the teaching device 4 sets a work plane based on any of the following methods A to C.

-Method A: Principal component analysis is performed on the operating points located between the first and second operating points, and the first principal component axis that maximizes the variance of the operating points and the first A plane including the second principal component axis having the largest variance of operating points excluding the principal component axis is set as the working plane. According to this method A, it is possible to set a work plane that can present the movement locus most accurately.

Since the principal component analysis is a well-known analysis method, detailed description thereof will be omitted. However, for example, in the case of a movement locus in which the robot 2 moves in the X-axis direction and the Z-axis direction and does not move in the Y-axis direction, Y Since the value of the axis is basically one, it is determined that the dispersion in the Y-axis direction is the smallest, and the XZ plane excluding the Y-axis direction is set as the work plane.

-Method B: When the work plane set by performing the principal component analysis is perpendicular to the installation plane of the robot 2, that is, tilted with respect to the vertical plane including the Z axis, the set work plane is projected onto the vertical plane. Find the plane and set the found projection plane as the working plane. According to this method B, the vertical direction of the presented work plane coincides with the vertical direction of the robot 2 while showing the movement locus to some extent, so that a work plane that is easy for the operator to understand is set. can do.

-Method C: A plane perpendicular to the installation surface of the robot 2 and including the first point of action and the second point of action is set as the work plane. According to this method C, since it is the same as when the operator visually sees the robot 2, it is possible to set a work plane that is easy for the operator to intuitively understand.

When the work plane is set, the teaching device 4 determines the display mode (S11). This display mode is a mode for presenting the moving presentation figure (M1; see FIG. 5) and the work presentation figure (M2. See FIG. 5), and is determined as the following aspects A to F or a combination thereof. Will be done. It should be noted that the display mode to be determined may be set in advance, but the convenience can be improved by providing a configuration that can be easily switched when the display of FIGS. 5 or 8 described later is performed. Can be improved.

Aspect A: A direction presentation figure (M3; see FIGS. 5 and 8) that schematically shows the orientation of the work plane is displayed with reference to the installation position of the robot 2.
Aspect B: A distance presentation figure (M4; see FIG. 5) schematically showing the distance from the first point of action to the second point of action is displayed.
Aspect C: The interval between the work presentation figures displayed in the display area (R. See FIG. 5) is constant regardless of the actual distance when the robot 2 moves from the first point of action to the second point of action. do.

Aspect D: The interval of the work presentation figure displayed in the display area work is changed according to the actual distance when the robot 2 moves from the first point of action to the second point of action. For example, the one with the maximum movement distance in each process is displayed so as to be full on both end sides of the display area, and the interval when displaying the work presentation figure in other processes is adjusted based on that. Can be considered.

Aspect E: When the teaching data includes a plurality of steps, a work plane is set for each step, and a moving presentation figure and a work presentation figure are displayed for each work plane (FIG. 5, FIG. (See FIG. 8).
Aspect F: When the teaching data includes a plurality of steps, the intervals between the work presentation figures in each step are relative to each other based on the distance from the first action point to the second action point in each step. (See FIG. 8).

When the display mode is determined, the teaching device 4 generates a moving presentation image and a working presentation image (S12). At this time, as shown in FIG. 5, for example, the teaching device 4 moves from the first operating point (P1) to the second operating point (P2), and connects or connects the operating points or the operating points existing in the middle. , A figure of an arrow, for example, passing through an operating point or an operating point existing in the middle is generated as a movement presentation image (M1) schematically showing the movement direction of the hand position.

Further, in the case of FIG. 5, for example, in the case of FIG. 5, the teaching device 4 is a figure showing a state in which the chuck is open for the first point of action (P1), and the chuck is closed for the second point of action (P3). A figure presenting the state is generated as a work presentation image (M2) schematically showing the driving state of the tool at the first point of action and the second point of action.

Subsequently, the teaching device 4 determines whether or not images have been generated for all the work steps (S13), and if there is an image that has not been generated (S13: NO), the process proceeds to step S10 to generate an image. On the other hand, when images are generated for all work processes (S13: YES), each figure is displayed (S14).

As shown in FIG. 5, for example, when the work A includes the four steps A1 to A4, the teaching device 4 sets a display area (R) for each work step and sets each of the display areas (R). The movement presentation figure (M1), the work presentation figure (M2), the direction presentation figure (M3), and the distance presentation figure (M4) are displayed in the display area of.

That is, the teaching device 4 generates images to be presented for each work process. It should be noted that what is actually displayed on the display unit 12 is the inside of the figure display area (R), and P1 to P5 are attached for explanation. However, steps A1 to A4 can be displayed in order to make it easier to understand the work contents.

In the case of FIG. 5, in step A1, the hand position moved diagonally upward from the first point of action (P1) and reached above the second point of action (P2) by the movement presentation figure (M1). After that, it is shown that the motion is descending toward the second point of action (P2). Further, the work presentation figure (M2) indicates that the chuck is open at the first point of action (P1) and the chuck is closed at the first point of action (P1), that is, the work is gripped. ..

Further, the direction presentation figure (M3) indicates that the work plane is a ZY plane, that is, the operation when the robot 2 is viewed from the X-axis direction. Further, a distance presentation figure (M4), in this case, a scale indicating an approximate distance, indicates a guideline for the distance between the first point of action (P1) and the second point of action (P2).

By the way, in FIG. 5, each work presentation figure (M2) is displayed located on the left and right end sides of the display area (R). It is shown that the Y-axis scale is 10 mm in the step A1 and the Y-axis scale is 20 mm in the step A2. That is, although the distance between the work presentation figures (M2) displayed as images is the same in the process A1 and the process A2, the actual moving distance in which the robot 2 operates is longer in the process A2. There is.

Then, the teaching device 4 adopts the above-described aspect C to set the interval between the work presentation figures to be displayed regardless of the actual distance when the robot 2 moves from the first point of action to the second point of action. It is constant. As a result, the display area can be greatly utilized, and the work presentation figure, that is, the work content can be presented to the operator in a more visible form.

On the other hand, the teaching device 4 can also change the interval of the work presentation figures to be displayed according to the actual distance when the robot 2 moves from the first point of action to the second point of action. Specifically, it is assumed that the teaching data of the work B shown in FIG. 6 is recorded, and the teaching data indicates the operating point group shown in FIG. 7.

In this case, the teaching device 4 executes the process shown in FIG. 4 and selects the above-mentioned aspect D as the display mode, so that the moving distance of the robot 2 is as shown in steps B1 to B3 shown in FIG. The interval at which the work presentation figure (M2) is displayed can be changed according to the above. This makes it possible to easily grasp the magnitude relationship of the moving distance in each process.

In this case, the teaching device 4 displays the work presentation figure in the display area of each process according to the actual distance when the robot 2 moves from the first point of action to the second point of action in each process. It is also possible to change the interval when doing so relatively. That is, the distance between the work presentation figures (M2) is not proportional to the actual distance, but for example, the movement distance in each process is relatively long by making the distance in the process B1 shorter than the process B2 and longer than the process B3. It can also be grasped.

Further, as shown in FIG. 9, the work presentation figure (M2) is "chuck open" or "chuck closed" indicating a state in which the chuck is opened or closed by one quadrangle and two quadrangles protruding from the quadrangle. In addition to the figure of, the "rotation" figure that schematically shows the state in which the tool is rotating by adding an arrow, and the state in which the chuck is viewed from the side by making one protruding quadrangle are shown, and the tool A "horizontal" figure or the like that schematically shows that the direction of is changed can be appropriately used. Of course, when a tool other than the chuck is used, a figure that can preferably show the tool may be used.

According to the teaching data display device described above, the following effects can be obtained.
The teaching device 4 extracts an action point, which is an action point on which the robot 2 acts on the outside, from a plurality of action points constituting the movement locus of the robot 2 from the teaching data recorded by direct teaching, and the extracted action point. Of these, a work plane is set to represent the movement locus from the first action point where the robot 2 starts the work to the second action point where the work is completed, and from the first action point to the second action point. Generate and generate a movement presentation figure that schematically shows the movement trajectory of the robot 2 together with its direction, and a work presentation figure that schematically shows the work contents of the robot 2 at the first action point and the second action point. The display unit 12 displays an image of the moved presentation figure and the work presentation figure positioned on the work plane.

As a result, how the robot 2 is moving from the first point of action to the second point of action, where it is working, and the tools at the first point of action and the second point of action It is possible to easily visually grasp what the driving state is. Then, if the driving state of the tool is known, it is possible to grasp, for example, whether it is an operation of gripping the tool or an operation of placing the tool. That is, the readability of the teaching data recorded by direct teaching can be improved.

Therefore, the work content recorded in the teaching data can be easily grasped, and maintainability can be greatly improved. In addition, a plurality of teaching data may be stored in the actual site, and it is considered that the longer the period after the robot 2 is installed, the more teaching data will be stored. The longer the period and the greater the need for maintenance, the lower the maintainability will be. However, since the readability is improved by the above configuration, the maintainability is improved even if the number of teaching data is large. It can be prevented from decreasing.

The teaching device 4 is not included in a predetermined determination distance from the operating point extracted as the operating point among the operating points included in the movement locus of the robot 2, and the tool attached to the robot 2 operates. Then, an operating point that satisfies any one or more of the conditions that the hand position of the robot 2 is stopped for a certain period of time or more is extracted as an operating point.

Since the robot 2 can be controlled at a small distance, a plurality of operating points may be extracted as operating points at substantially the same position. In that case, if all the extracted points of action are displayed, the display may become complicated and the readability may be deteriorated. Therefore, by not extracting the operating points within a predetermined determination distance from the operating points extracted as the operating points as the operating points, it is possible to suppress the deterioration of readability.

Further, since the operating point at which the tool attached to the robot 2 operates is considered to be the operating point that the operator wants to grasp, by extracting it as the operating point, the work content is appropriately displayed, that is, to the operator. Can be presented. Further, when the robot 2 grabs the work or moves to the upper part of the target position and then descends, it is considered that the hand position of the robot 2 is stopped for a certain period of time or more. Therefore, by extracting the operating point that has been stopped for a certain period of time or longer as the operating point, the movement locus of the robot 2 and the work content can be appropriately presented.

The teaching device 4 performs principal component analysis on the operating points located between the first operating point and the second operating point, and the first principal component axis that maximizes the dispersion of the operating points and the first principal component axis . A plane including the second principal component axis having the largest dispersion of operating points excluding the first principal component axis is set as the working plane. As a result, the plane that best represents the movement locus of the robot 2, in other words, the plane that most accurately reproduces the movement locus of the robot 2, is set as the work plane, and the movement locus of the robot 2 can be displayed accurately.

When the set work plane is tilted with respect to the vertical plane perpendicular to the installation plane of the robot 2, the teaching device 4 obtains a projection plane obtained by projecting the work plane onto the vertical plane, and obtains the obtained projection plane as a new work plane. Set as. As a result, the vertical direction of the image to be displayed coincides with the vertical direction of the robot 2, and the image can be displayed in a manner that is easy for the operator to grasp. Of course, even the work plane set by the principal component analysis may not be tilted with respect to the vertical direction of the robot 2.

The teaching device 4 includes a first operating point and a second operating point, sets a plane perpendicular to the installation surface of the robot 2 as a working plane, and sets the first operating point and the second operating point. A moving presentation figure is generated for a projection of the operating points between the two on the work plane. As a result, the robot 2 can be displayed in a state substantially similar to that when the operator sees the robot 2 with his / her own eyes, and the operation of the robot 2 can be intuitively grasped.

The teaching device 4 keeps the interval between the work presentation figures to be displayed constant regardless of the actual distance from the first point of action to the second point of action. As a result, the space between the work presentation figures is not narrowed, and the work presentation figures can be easily visually recognized, so that the work contents can be easily grasped.

The teaching device 4 changes the interval of the work presentation figure to be displayed according to the actual distance from the first point of action to the second point of action. As a result, not only the work content but also the moving distance of the robot can be roughly grasped, and the work content can be grasped in detail.

When the teaching data includes a plurality of work processes, the teaching device 4 sets a work plane for each work process and generates a moving presentation figure and a work presentation figure for each work plane. indicate. As a result, even when a plurality of work processes are recorded in the teaching data, it is possible to prevent the display from becoming complicated and the readability from being deteriorated, and it is possible to easily grasp the work contents in each work process. At the same time, it is possible to grasp the number of work processes.

When the teaching data includes a plurality of work processes, the teaching device 4 responds to the actual distance when the robot 2 moves from the first point of action to the second point of action in each work process. The interval at which the work presentation figure is displayed in the display area of each work process is relatively changed. As a result, it is possible to easily grasp the difference in the movement mode in each work process just by looking at the displayed image.

Further, a second action point in which the action point, which is an action point acting on the outside, is extracted from a plurality of action points constituting the movement locus of the robot 2, and the work is completed from the first action point at which the robot 2 starts the work. A work plane representing the movement locus to the point of action of the robot 2 is set, and a movement presentation figure showing the movement locus of the robot 2 in a schematic manner together with its direction and a work presentation figure showing the work contents of the robot 2 in a schematic manner are generated. The readability of the teaching data recorded by the direct teaching can also be improved by the teaching data display method of displaying the generated moving presentation figure and the image in which the work presentation figure is positioned on the work plane, and is recorded in the teaching data. It is possible to easily grasp the work content being performed, and it is possible to greatly improve maintainability, and the same effects as those of the teaching device 4 described above can be obtained.

The above-mentioned teaching device 4 is not limited to the configuration shown in the embodiment, and the configuration can be appropriately changed without departing from the gist.

In the embodiment, among the operating points included in the movement locus of the robot 2, the operating points are not included within a predetermined determination distance from the operating points extracted as the operating points, the tool attached to the robot 2 operates, and the robot 2 operates. , An example is shown in which an operating point that satisfies all the conditions that the hand position of the robot 2 is stopped for a certain period of time or more is extracted as an operating point. You can also do it. That is, the conditions for extracting as the point of action can be appropriately set according to the work content.

For example, in the case of pick-and-place work in which the work is gripped and placed in another place as in the embodiment, the work of the robot 2 can be performed by extracting as operating points and operating points that satisfy all the conditions. It is thought that it can be presented efficiently. In this case, as the operating point, for example, a set of a plurality of operating points or operating points within the display range of the work presentation figure (M2) may be collectively set as the first operating point or the second operating point. can. That is, the first point of action and the second point of action can also be set as a group of action points.

On the other hand, in the case of painting work such as a painting robot in which the arm of the robot 2 reciprocates left and right without changing the driving state of the tool, the operating point at which the arm is folded back, that is, the hand of the robot 2. It is considered that the work content can be accurately presented by extracting the operating point at which the position is stopped for a certain period of time or longer as the operating point.

Further, when executing a plurality of processes in a narrow range, an operating point that satisfies two conditions of operating the tool attached to the robot 2 and stopping the hand position of the robot 2 for a certain period of time or more is operated. By extracting as points, it is considered that the work contents can be presented accurately.

The movement presentation figure (M1), the work presentation figure (M2), the direction presentation figure (M3), and the distance presentation figure (M4) shown in the embodiment are examples, and other figures can be adopted. In other words, each figure includes letters, numbers, symbols, etc. as long as the moving direction, work content, plane orientation, and moving distance can be visually grasped. Further, by making the display colors different, it is possible to present the difference in the work contents, the difference in the moving direction, the orientation of the work plane, and the like.

In the drawings, 2 is a robot, 4 is a teaching device (teaching data display device), 10a is an extraction unit, 10b is a setting unit, 10c is a generation unit, 11 is a storage unit, and 12 is a display unit.

Claims (10)

It is a teaching data display device that displays the teaching data of the robot.
A storage unit that stores teaching data recorded by direct teaching,
An extraction unit that extracts an operating point, which is an operating point on which the robot acts on the outside, from a plurality of operating points constituting the movement locus of the robot from the teaching data.
Of the extracted action points, a setting unit for setting a work plane representing a movement locus from the first action point at which the robot starts work to the second action point at which the work is completed, and
A movement presentation figure schematically showing the movement locus of the robot from the first point of action to the second point of action together with its direction, and the said at the first point of action and the second point of action. A generator that generates a work presentation figure that schematically shows the work contents of the robot,
A display unit that displays an image in which the generated movement presentation figure and work presentation figure are positioned on the work plane, and
A teaching data display device comprising. Among the operating points included in the movement locus of the robot, the extraction unit is not included within a predetermined determination distance from the operating point extracted as the operating point, and the tool attached to the robot operates. The teaching data display device according to claim 1, wherein an operating point satisfying any one or more of the conditions that the hand position of the robot is stopped for a certain period of time or more is extracted as an operating point. .. The setting unit performs principal component analysis on the operating points located between the first point of action and the second point of action, and sets the first principal component axis that maximizes the dispersion of the operating points. The teaching data display according to claim 1 or 2, wherein a plane including the second principal component axis having the largest dispersion of operating points excluding the first principal component axis is set as the working plane. Device. In the setting, when the set work plane is tilted with respect to a vertical plane perpendicular to the installation plane of the robot, a projection plane obtained by projecting the work plane onto the vertical plane is obtained, and the obtained projection plane is newly obtained. The teaching data display device according to claim 3, wherein the work plane is set as the work plane. The setting unit includes the first point of action and the second point of action, and sets a plane perpendicular to the installation surface of the robot as the work plane.
Claim 1 is characterized in that the generation unit generates the movement presentation figure on a projection of an operating point between the first point of action and the second point of action on the work plane. Alternatively, the teaching data display device according to 2. The display unit is characterized in that the interval between the work presentation figures to be displayed is constant regardless of the actual distance from the first point of action to the second point of action. The teaching data display device according to any one of the items. Any of claims 1 to 5, wherein the display unit changes the interval of the work presentation figure to be displayed according to the actual distance from the first point of action to the second point of action. The teaching data display device described in item 1. When the teaching data includes a plurality of work processes, the setting unit sets the work plane for each work process.
The generation unit generates the movement presentation figure and the work presentation figure for each of the work planes.
The teaching data display device according to any one of claims 1 to 7, wherein the display unit displays the movement presentation figure and the work presentation figure for each work process. When the teaching data includes a plurality of work steps, the display unit performs each work according to the actual distance from the first action point to the second action point in each work step. The teaching data display device according to any one of claims 1 to 8, wherein the interval when displaying the work presentation figure is relatively changed in the process display area. It is a teaching data display method that displays the teaching data of the robot.
A step of extracting an operating point, which is an operating point on which the robot acts on the outside, from a plurality of operating points constituting the movement locus of the robot from the teaching data recorded by direct instruction.
A step of setting a work plane representing a movement locus from the first action point at which the robot starts the work to the second action point at which the work is completed among the extracted action points.
A movement presentation figure schematically showing the movement locus of the robot from the first point of action to the second point of action together with its direction, and the said at the first point of action and the second point of action. The process of generating a work presentation figure that schematically shows the work contents of the robot, and
A process of displaying an image in which the generated moving presentation figure and the work presentation figure are positioned on the work plane, and
A teaching data display method comprising.

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