JP7099470B2 - Robot teaching device - Google Patents

Description

The present invention relates to a robot teaching device.

In order to use the robot on a factory line or the like, the user needs to teach the robot the movement. For example, Patent Document 1 discloses a technique (teaching technique) of arranging a robot and an object of the robot's work on a virtual space by a computer and creating an operation program of the robot.

Japanese Patent No. 4621641

By the way, in the conventional teaching technique, after teaching a series of movements to the robot, it is determined whether the robot can execute the series of movements. However, even though the robot was once taught a series of movements and the trajectory of the series of movements of the robot was set, there were cases where the movements that the robot could not perform were included. In that case, the teaching to the robot must be performed again, which results in waste in the teaching work.

Therefore, an object of the present invention is to enable the teaching work of the robot to be performed more efficiently than before.

An exemplary first invention of the present application includes a display control unit that displays hierarchical data in which a robot component and a component of an object that is the work target of the robot are hierarchically described on a display device. In the storage unit that stores the three-dimensional model of the robot in the virtual space and the three-dimensional model of the object, and in the hierarchical data, any one of the components of the robot is based on the operation input of the operator. , And a robot teaching unit comprising, when at least one object is selected, a determination unit for determining whether or not the at least one object is reachable by the robot component in the virtual space. It is a device.

According to the present invention, the teaching work of the robot can be performed more efficiently than before.

FIG. 1 is a diagram showing an overall configuration of a robot teaching device according to an embodiment. FIG. 2 is a diagram showing a hardware configuration of each device included in the robot teaching device of the embodiment. FIG. 3 is a diagram showing a three-dimensional CAD window according to an example of the embodiment. FIG. 4 is a diagram showing a teaching window according to an example of the embodiment. FIG. 5 is a diagram for conceptually explaining a task. FIG. 6 is a diagram showing a transition of the teaching window according to an example of the embodiment. FIG. 7 is a diagram showing an example of TCP setting of the object. FIG. 8 is a diagram showing an operation example of a robot hand in a virtual space. FIG. 9 is a diagram illustrating a method for the operator to set TCP. FIG. 10 is a diagram showing an example of a task list. FIG. 11 is a diagram showing a display example of an error task in the task list of FIG. FIG. 12 is a diagram showing a transition of the teaching window according to an example of the embodiment. FIG. 13 is a diagram showing a display example of a hierarchical list in the embodiment. FIG. 14 is a functional block diagram of the robot teaching device according to the embodiment. FIG. 15 is an example of a sequence chart showing the processing of the robot teaching device according to the embodiment. FIG. 16 is an example of a sequence chart showing the processing of the robot teaching device according to the embodiment. FIG. 17 is a diagram showing another display example of the hierarchical list in the embodiment.

Hereinafter, an embodiment of the robot teaching device of the present invention will be described.
The robot teaching device 1 of the present embodiment provides offline teaching that creates teaching data for an operator to teach the operation of the robot without actually operating the robot.
In the following description, the "working element" means the smallest unit of work performed by a robot in a series of work such as "taking" or "putting" an object.
The "object" means an object that is the object of work of the robot, and is not limited to an object that the robot holds (for example, a work that is a processing object) but an object that is related to the work of the robot (for example, the robot). Also includes a shelf on which to hold objects).

(1) Configuration of Robot Teaching Device According to the Present Embodiment Hereinafter, the configuration of the robot teaching device 1 of the present embodiment will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram showing an overall configuration of the robot teaching device 1 of the present embodiment. FIG. 2 is a diagram showing a hardware configuration of each device included in the robot teaching device 1 of the present embodiment.

As shown in FIG. 1, the robot teaching device 1 includes an information processing device 2 and a robot control device 3. The information processing device 2 and the robot control device 3 are communicably connected by, for example, a communication network cable EC.
The information processing device 2 is a device for teaching an operation to a robot installed on a factory line. The information processing device 2 is provided for offline teaching by the operator, and is arranged at a position away from the factory where the robot is installed (for example, the operator's work place).

The robot control device 3 executes a robot program transmitted from the information processing device 2. In the present embodiment, the robot control device 3 is not connected to the robot, but when it is connected to the robot, it is possible to send a control signal according to the execution result of the robot program to the robot to operate the robot. Therefore, preferably, the robot control device 3 is arranged in the vicinity of the actual robot.

As shown in FIG. 2, the information processing device 2 includes a control unit 21, a storage 22, an input device 23, a display device 24, and a communication interface unit 25.
The control unit 21 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The ROM stores a 3D CAD application program and teaching software. The CPU expands and executes the three-dimensional CAD application software (hereinafter, appropriately referred to as "CAD software") and the teaching software on the ROM in the RAM. The teaching software and the CAD software cooperate to execute processing via an API (Application Program Interface).
The control unit 21 continuously displays images in frame units in order to reproduce moving images by CAD software.

The storage 22 is a large-capacity storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and is configured to be sequentially accessible by the CPU of the control unit 21.
The storage 22 stores the data of the three-dimensional model referred to when the CAD software is executed. In the example of this embodiment, the storage 22 stores data of a three-dimensional model of the robot and an object (for example, a pen, a cap, a product, a pen tray, a cap tray, and a product tray described later).
Execution log data acquired from the robot control device 3 is stored in the storage 22. The execution log data includes the execution result of the robot program and the robot state data described later. The robot state data is used to reproduce the movement of the robot by moving images (animation) in the virtual space by three-dimensional CAD.

The input device 23 is a device for receiving an operation input by an operator, and includes a pointing device.
The display device 24 is a device for displaying the execution result of the teaching software and the CAD software, and includes a display drive circuit and a display panel.
The communication interface unit 25 includes a communication circuit for performing network communication with the robot control device 3.

The robot control device 3 includes a control unit 31, a storage 32, and a communication interface unit 33.
The control unit 31 includes a CPU, a ROM, a RAM, and a control circuit. The control unit 31 executes the robot program received from the information processing device 2 and outputs the execution log data. The execution log data includes the execution result of the robot program and the robot state data of the robot that executes the work described in the robot program.
The robot state data is physical quantity data indicating the state of the robot according to the passage of time. Examples of physical quantities indicating the state of the robot include the joint angle of the arm of the robot, the speed and acceleration of the arm.

The storage 32 is a large-capacity storage device such as an HDD or SSD, and is configured to be sequentially accessible by the CPU of the control unit 31. The storage 32 stores the robot program and the execution log data.
The communication interface unit 33 includes a communication circuit for performing network communication with the information processing device 2.

(2) User Interface in Offline Teaching In the robot teaching device 1 of the present embodiment, the information processing device 2 provides offline teaching to the robot. In this offline teaching, teaching software and CAD software are run together to provide a useful user interface as described below.
When the operator performs offline teaching in the present embodiment, the information processing apparatus 2 is made to execute the CAD software and the teaching software.
The execution result of the CAD software is displayed in the CAD window, and the execution result of the teaching software is displayed in the teaching window. The operator causes the information processing apparatus 2 to display both the CAD window and the teaching window, or displays the information processing apparatus 2 while switching between the CAD window and the teaching window, and performs an operation related to teaching.

FIG. 3 shows a CAD window W1 according to an example of the present embodiment. FIG. 3 shows an image of a robot R, a pen tray 11, a cap tray 12, a jig 13, and a product tray 14 arranged in a virtual space on a table T (hereinafter, “CAD” as appropriate). "Image") is displayed.
In the example shown in FIG. 3, it is assumed that the robot R performs a series of operations by fitting a cap on a pen and assembling a product (a finished product with the cap fitted on the pen). A pen group P composed of a plurality of pens is arranged on the pen tray 11, and a cap group C composed of a plurality of caps is arranged on the cap tray 12. The jig 13 is a member for the robot R to temporarily arrange a pen and fit a cap. The product tray 14 is a member for placing a product.

In the example shown in FIG. 3, each pen included in the pen group P, each cap included in the cap group C, the pen tray 11, the cap tray 12, the jig 13, and the product tray 14 are the work targets of the robot R. This is an example of an object. A product with a cap fitted to a pen is also an example of an object.

(2-1) Hierarchical list FIG. 4 shows a teaching window W2 according to an example of the present embodiment. What is displayed in the teaching window W2 is the robot R included in the CAD image of FIG. 3 and a hierarchical list (an example of hierarchical data) showing the hierarchical relationship of the objects.

The teaching software can create a hierarchical list in cooperation with the CAD software. A tree-structured data format is provided by the teaching software as a hierarchical list. The operator performs an operation of dragging the robot R and the object in the CAD image to a desired node of the above-mentioned tree structure data format with the CAD image and the teaching window displayed while the robot R and the object are selected by the pointing device. .. By performing this operation in order for all the objects required for teaching the robot R, the hierarchical list can be completed. The name of each node displayed in the hierarchical list may be the same as the name of the original 3D model, but the name may be changed later.

In the following description, including the robot R and the object in any node of the hierarchical list in the CAD image is referred to as "registering the robot R or the object in the hierarchical list". FIG. 3 illustrates a CAD image when there is one robot, but when there are two or more robots, the two or more robots can be registered in the hierarchical list.

In the hierarchical list shown in FIG. 4, three nodes related to the hand are provided in the lower layer of the node of the robot R (Robot_R). The reason why a plurality of nodes are provided for the hand is to consider the working state assumed for the hand. That is, the nodes 61 to 63 mean the following contents, and TCP (Tool Center Point) described later is set respectively.

-Node 61 (Pen) ... Hand corresponding to the work of gripping the pen-Node 62 (Cap) ... Hand corresponding to the work of gripping the cap-Node 63 (Pen_with_Cap) ... For the work of gripping the pen with the cap fitted Corresponding hand

Right-click on any of the nodes 61 to 63 and select "Hand sequence operation" to set the actuation method (single solenoid, double solenoid, etc.), sensor type, and other hand sequence related settings. be able to.
Since the hand sequence depends on the object held by the hand 52 of the robot R, it is set for each object held by the hand 52. If a task to be described later is created when the hand sequence is not set, a warning display may be output to the display device 24 because the program based on the task cannot be executed.

As shown in FIG. 4, preferably, the robot region RA (example of the first region) for displaying the components of the robot R (Robot_R, Hand in FIG. 4) hierarchically and the components of the object are hierarchically displayed. Hierarchical data is displayed separately from the object area PA (example of the second area) for displaying in a targeted manner.
The components of the object include jig (JIG), pen tray (PenTray), cap tray (CapTray), product tray (ProductTray), pen (Pen1, Pen2, ..., Pen12), cap (Cap1, Cap2, ..., Cap12) and products (PenProduct1, PenProduct2, ..., PenProduct12) are included.
Below the node of the jig (JIG), for example, the following node is provided corresponding to the work for the jig.

-Node 64 (PenProduct) ... Jig holding the product (PenProduct) -Node 65 (PenJ) ... Jig holding the pen (Pen) -Node 66 (CapJ) ... Holding the cap (Cap) State jig

Below the nodes of the pen tray (PenTray), each node corresponding to the pens Pen1, Pen2, ..., Pen12 is provided. Below the nodes of the cap tray (CapTray), each node corresponding to the caps Cap1, Cap2, ..., Cap12 is provided. Below the nodes of the product tray (ProductTray), each node corresponding to the products PenProduct1, PenProduct2, ..., PenProduct12 is provided.

Robot R (Robot_R in Fig. 4) in the hierarchical list, and objects (jig (JIG), pen tray (PenTray), cap tray (CapTray), product tray (ProductTray), pen Pen1, Pen2, ..., Pen12 , Cap Cap1, Cap2, ..., Cap12, and each node of the product PenProduct1, PenProduct2, ..., PenProduct12) are in a state associated with the data of the corresponding three-dimensional model. Therefore, even if the robot R in the hierarchical list and the three-dimensional model of the object are changed after the hierarchical list is created, it is not necessary to register the robot R in the hierarchical list again.

In the hierarchical list of FIG. 4, in the CAD window, right-click the selected robot R, object, part, TCP, etc. at the position of any node in the robot area RA to "add parts". By selecting, the robot R or the object selected in the CAD window is registered in the hierarchical list.
In the hierarchical list of FIG. 4, when the positional relationship of the object is changed on the CAD software by right-clicking an arbitrary position and selecting "Batch update", the changed positional relationship Information is reflected in the hierarchical list.

(2-2) Grouping Two or more objects registered in the hierarchical list can be grouped.
The procedure for grouping is as follows. For example, in FIG. 4, when grouping the pens Pen1 and Pen2 included in the penTray, specify the node corresponding to the pens Pen1 and Pen2 in the hierarchical list on the pointing device and perform a right-click operation. Next, perform an operation to select "Create group". By performing this operation, the pens Pen1 and Pen2 are grouped. Two or more objects grouped in a hierarchical list are enclosed in a rectangular frame, for example, as shown in FIG. 4, so that the operator can recognize that the two or more objects are grouped. , It is preferable to perform display processing such as using a common font or adding the same color.

The example shown in FIG. 4 is a case of grouping objects corresponding to two consecutive nodes, but a grouping of objects corresponding to two non-consecutive nodes. The hierarchical list may be updated so that the two nodes are continuous.
For example, when pen Pen1 and pen Pen3 are grouped, the order of the lower nodes of the nodes of the pen tray (PenTray) is updated to pen Pen1, Pen3, Pen2, and so on.

(2-3) Tasks Next, the tasks will be described with reference to FIG. FIG. 5 is a diagram for conceptually explaining a task.
A task is information about a work element, which is the smallest unit of work performed by a robot in a series of work. A series of work performed by the robot R (hereinafter referred to as "job") is composed of a plurality of work elements and movement between the work elements. Therefore, in the present embodiment, a plurality of tasks are defined for the job performed by the robot R.

In FIG. 5, the line with the arrow conceptually shows the locus of the hand 52 of the robot R. The locus is the approach points AP1 and AP2 (each is an example of the first point), which are the passing points before reaching the target point TP of the work element, the target point TP, and the passing points after reaching the target point TP. It includes certain departure points DP1 and DP2 (each is an example of the second point). The target point TP indicates the position of the object that is the object of the work element, and may be TCP of the object described later.

In the example shown in FIG. 5, the operation of the robot R before reaching the approach point AP1 corresponds to the movement between the working elements (that is, the movement between the previous working element and the working element shown in FIG. 5). The movement of the robot R from the approach point AP1 to the departure point DP2 corresponds to one work element and one task. The operation of the robot R after the departure point DP2 corresponds to the movement between the working elements (that is, the movement between the working element shown in FIG. 5 and the next working element).
That is, the task may include information about the work element, as well as information about at least one of the target point TP, the approach point AP, and the departure point DP.

FIG. 5 illustrates a case where an interlock is set at approach points AP1 and AP2. The interlock is a process of waiting the operation of the robot R at at least one of the target point TP, the approach point AP, and the departure point DP based on the input signal in order to avoid interference with other robots and the like. Is.
The task may include information about the interlock setting, including the point at which the interlock is set and the timeout value for the wait time due to the interlock.

(2-4) Creation of Task Next, a method of creating a task using a hierarchical list will be described with reference to FIGS. 4 and 6. FIG. 6 is a diagram showing a transition of the teaching window according to an example of the present embodiment.
In order to create a task in the hierarchical list shown in FIG. 4, the operator first selects one of the nodes 61 to 63 of the hand of the robot R (Robot_R) included in the robot area RA as a pointing device. Select with and right-click to select "Create Task". That is, the node selection is selected from the gripping targets of the robot R's hand in the work element corresponding to the task, based on the operation input of the operator.

When "Create task" is selected, the teaching window W3 for creating the task of FIG. 6 is displayed. The teaching window W3 is a screen for making detailed settings for a task, and displays each item of a task name (Name), a work element type (Function), and a work element target (Target). Here, by left-clicking the node corresponding to any object from the object area PA of the hierarchical list with the pointing device, the item of the target (Target) of the teaching window W3 can be left-clicked. The selected object is entered. In the work element type (Function) column, one of the work from the pull-down menu consisting of multiple preset types of work elements (for example, pick up, place, etc.). It is configured so that elements can be selected.

Next, by selecting the object to be worked from the object area PA of the hierarchical list with the pointing device and performing a left-click operation, the object is selected as the target item of the teaching window W3. The target object is entered.
When data is input for each item of work element type (Function) and target (Target), the task name (Name) is automatically determined and displayed based on the data.

For example, in a state where the hand of the robot R is not holding anything, in order to create a task corresponding to the work element of "taking the pen Pen1 from the pen tray", the operator inputs the node 61 in the robot area RA to the pointing device. Right-click on and select "Create Task". Next, by performing a left-click operation on the pointing device for the node 67 corresponding to the pen tray from the object area PA of the hierarchical list, the pen tray is set to the target item of the teaching window W3. (PenTray) is input. In the function field, select "Pick up" from multiple types of work element candidates. Then, by performing a left-click operation on the pointing device for the node 68 corresponding to the pen Pen1 to be worked from the object area PA of the hierarchical list, the teaching window W3 shown in FIG. 6 is displayed. ..

As a result of the above operation, a task named "Pickup_Pen1_From_PenTray" is created as information about the work element "take the pen Pen1 from the pen tray".
In the present embodiment, the operator can intuitively perform a task by designating the object of the work element (here, "Pen Pen1") and the start point (for example, "pen tray") or the end point of the work element on the hierarchical list. Can be created. The name of the task is the work content of the work element (for example, "Pickup"), the work target (for example, "Pen Pen1"), the object that is the start point of the work element (for example, "Pen tray"), or the end point. Since it is automatically created to include the object, the content of the task can be immediately understood from the name of the task.
It should be noted that a task may be collectively created for two or more objects grouped in a hierarchical list.

When a task is created, information about the approach point AP, target point TP, and departure point DP included in the task is automatically created. That is, since the task is associated with the data of the 3D model on the virtual space of the object related to the task, the approach point AP, the target point TP, based on the data of the 3D model, according to a predetermined standard. And, each point of the departure point DP is calculated. In one example of the calculation method, TCP (Tool Center Point; an example of a reference point) is calculated as a target point TP of an object, and an approach point AP and a departure point DP are calculated with TCP as a reference.

TCP means a reference point (or work point) of the object in the virtual space, which is a reference of work on the object of the robot R, and is set for the hand 52 of the robot R and each object. .. When setting TCP, the local coordinate system with TCP as the origin is also set. By setting the local coordinate system of the object, when rotating the Euler angles of the object, it should be rotated around TCP, and the approach point AP and departure point DP are automatically set as described later. There are advantages such as what you can do.

As an example, FIG. 7 shows a TCP setting example of the cap Cap1.
In the example of this embodiment, TCP is automatically set at the position of the center of gravity of the object. Since the data of the three-dimensional model is associated with the object, the position of the center of gravity can be relatively easily obtained from the data of the three-dimensional model.
The approach point AP and the departure point DP each create a task at a position 1.5 times the total length of the object (cap Cap1 in the example of FIG. 7) on the Z axis of the local coordinate system set for the object. Sometimes set automatically. The position 1.5 times the total length is only an example, and may be appropriately set to an arbitrary value between 1 and 2 times the total length, for example. In FIG. 7, work on the + Z axis side (work such as removing and placing a cap with the hand 52) is assumed, and the local coordinate system is defined so that the work with the hand 52 is in the + Z direction. Therefore, the approach point AP and the departure point DP can be automatically determined.

When two or more objects are grouped, the other of the two or more objects is based on the approach point AP and the departure point DP set in one of the two or more objects. The approach point AP and departure point DP of the object may be set automatically.
For example, assume that the pens Pen1 and Pen2 are grouped together. The TCP coordinates that are the basis of work for Pen Pen1 are set to (100, 100, 0) in the world coordinate system, and the coordinates of the approach point AP and departure point DP of Pen Pen1 are set to (100, 100, 20) in the world coordinate system. ) Is set. At this time, when the TCP of the pen Pen2 is (120, 100, 0) in the world coordinate system, the coordinates of the approach point AP and the departure point DP of the pen Pen2 are (120, 100, 20) in the world coordinate system. It is set automatically. That is, the approach point AP and the departure point DP of the pen Pen2 are set so that the TCP offset amount of the pen Pen1 and the pen Pen2 (+20 in the X coordinate) is reflected. In other words, the approach point AP and departure point of pen Pen2 so that the approach point AP and departure point DP of pen Pen1 and pen Pen2 have the same coordinates in the local coordinate system based on TCP of pen Pen1 and pen Pen2, respectively. DP is set.

FIG. 8 is a diagram showing an example of the operation of the hand 52 in the virtual space when the cap Cap1 is taken from the cap tray 12.
In FIG. 8, the hand 52 first moves along the orbit TR1 so that TCP1 set in the hand 52 (that is, TCP of the hand set in the node 62 in FIG. 4) coincides with the approach point AP. .. Next, the hand 52 moves along the orbit TR2 so that TCP1 set in the hand 52 matches TCP2 set in the cap Cap1 of the cap tray 12. After gripping the cap Cap1, the hand 52 moves along the trajectory TR3 so that TCP1 set in the hand 52 matches the departure point DP.
The orbits TR2 and TR3 are orbits along the Z axis of the local coordinate system set in the cap Cap1 of the cap tray 12. Therefore, when the hand 52 takes the cap Cap1, it does not interfere with the cap adjacent to the cap Cap1 in the cap tray 12. Further, the trajectory of the hand 52 is determined based on TCP1 set in the hand 52, TCP2 of the cap Cap1 in the cap tray 12, and its local coordinate system. Therefore, the hand 52 can accurately grip the cap Cap1.

When setting TCP other than the center of gravity of the object, TCP can be set at a desired position of the object based on the operation input of the operator.
FIG. 9 shows a method of setting TCP based on the operation input of the operator.
As shown in FIG. 9, the CAD software is provided with a TCP model TCP_m provided with a local coordinate system LA for setting TCP. After the operator moves the TCP model to the desired position of the object (cap Cap1 in FIG. 9) and sets the position of the TCP model TCP_m, the corresponding node in the hierarchical list (eg, Cap1 in FIG. 4). Perform the operation of dragging the TCP model TCP_m to the node). Thereby, TCP of the object (for example, cap Cap1) can be set to the coordinates set on the CAD software.

Referring to FIG. 6 again, the teaching window W3 is provided with a button b1 (“detailed setting”). The operator can select one of "approach point, departure point setting", "motion parameter setting", and "interlock setting" by operating the button b1 ("detailed setting").
By selecting "Set approach point, departure point", the operator can change or delete the automatically created approach point and / or departure point, and add a new approach point and / or departure point. ..
The motion parameters are parameters related to the movement of the robot R such as the hand 52 between adjacent approach points APs included in the task, between the approach point AP and the target point TP, and between the target point TP and the departure point DP. Is. For example, such parameters include moving speed, acceleration, acceleration time, deceleration time, posture of the robot R, and the like. By selecting "Motion parameter setting", the above motion parameter can be changed from the default value.
By selecting "Interlock setting", the timeout value of the interlock waiting time and the setting of the operation when the waiting time exceeds the timeout value and an error is determined can be changed from the default value.

The teaching window W3 of FIG. 6 is provided with a button b3 (“check”). It is not essential to operate button b3 (“check”) when creating a task, but by operating button b3 (“check”), the operator can depart from the approach point AP included in the task in advance. The operation of the robot R up to the point DP can be confirmed in the CAD window.
The operation of button b3 (“check”) is when the task name (Name) is displayed (that is, when data has already been entered for each item of the work element type (Function) and target (Target)). It is effective for.

The operation confirmation result by the operation of the button b3 (“check”) is performed by transmitting the program created based on the task to the robot control device 3. The robot control device 3 executes the received program, and as an execution result, calculates robot state data which is information indicating the state of the robot R according to the passage of time. The robot state data is, for example, information such as a change in the joint angle of the arm 51 with the passage of time, a locus of the hand 52 with the passage of time, and the like. This robot state data is returned from the robot control device 3 to the information processing device 2. The CAD software operates the robot R and the three-dimensional model of the object in the virtual space based on the robot state data, and displays a moving image of the movement of the robot R corresponding to the task.

If an error occurs when calculating the robot status data of the robot R, the cause of the error may be displayed in the status column of the teaching window W3 of FIG. Examples of the cause of the error include overspeed, non-achievement of target point, arrival of singular point, and the like.
If the operation of the robot R is performed normally, in the Status column, the margin for the movement speed set in the motion parameter, the margin for the target point, the margin for the singular point, etc. , Information that is useful to the operator may be displayed.

The teaching window W3 of FIG. 6 is provided with a button b2 (“creation”).
By operating the button b2 (“create”), the task set by the teaching window W3 is registered in the task list described later.
If the operation is not confirmed by the operation of the button b3 (“check”) before the button b2 (“create”) is operated, the operation of the button b3 (“check”) is not performed. However, the operation check may be automatically performed to notify the presence or absence of an error.

(2-5) Creation of a program based on a task As described above, when checking the operation for each task, a program is created based on the task. The task-based program is an example of a robot program for causing the robot R to execute a work element corresponding to the task.
For example, the program for executing the work element corresponding to the task shown in FIG. 5 consists of the following plurality of functions, and each function executes the motion of the robot R (meaning “movement of the robot R”). Written by a program to make it.
The following move (AP1) may be defined separately as a move between working elements.

・ Move (AP1)… Move to approach point AP1 ・ interlock (IL1)… Stand by interlock (IL1) at approach point AP1 ・ move (AP2)… Move to approach point AP2 ・ interlock (IL2)… Approach point AP2 Wait by interlock (IL2) ・ move (TP)… move to target point TP ・ handSequence ()… hand sequence processing ・ move (DP1)… move to departure point DP1 ・ move (DP2)… move to departure point DP2 In the interlock (IL1) and interlock (IL2) functions, when checking the operation for each task, a program is created, but the timeout value of the waiting time due to the interlock is invalid.

(2-6) Task list The task list is information on a list of a plurality of tasks corresponding to each of the plurality of work elements included in the job performed by the robot R. The tasks created by the teaching window W3 for a specific job are sequentially registered in the task list corresponding to the job. It is preferable that the order of the plurality of tasks included in the task list indicates the execution order of the plurality of work elements corresponding to the plurality of tasks in order to manage the job.

The teaching window W4 of FIG. 10 displays an example of a task list corresponding to a job (“Pen Assembly”), which is a series of operations of “fitting a cap on a pen and assembling a product”. An example of this task list includes tasks corresponding to the following six work elements (i) to (vi). In this case, the case where the task with the name shown in parentheses is created by the teaching window W3 for creating the task is shown.
(i) Take the pen from the pen tray (Pickup_Pen1_From_PenTray)
(ii) Set the removed pen on the jig (Place_to_PenJ_in_PenProduct)
(iii) Remove the cap from the cap tray (Pickup_Cap1_From_CapTray)
(iv) Fit the cap on the pen on the jig (Place_to_CapJ_in_PenJ)
(v) Take the pen with the cap on (Pickup_PenProduct_From_JIG)
(vi) Place the capped pen on the product tray (Place_to_PenProduct1_in_Produ)
ctTray)

Among the task lists shown in FIG. 10, a task whose operation check result in the teaching window W3 shows an error (referred to as "error task") and a task other than the error task in the task list are displayed in different display modes (referred to as "error task"). For example, it may be displayed in a display mode in which different character colors and different background colors are used). The "task other than the error task" includes a task that does not show an error as a result of the operation check and a task that has not been checked for operation. The error task, the OK task (that is, the task that did not show an error as a result of the operation check), and the task for which the operation check has not been performed may be displayed in different display modes.

When a task is created collectively for two or more grouped objects, the tasks grouped together may be displayed in the task list.

The operator can set the selected tasks in any order in the task list by performing a drag operation with any task selected on the pointing device in the task list.

As shown in FIG. 10, when the operator right-clicks with any task in the task list selected on the pointing device, one of the "task edit", "task addition", and "task deletion" processes is performed. You can choose. Here, when "Edit task" is selected, it is possible to return to the teaching window W3 of the selected task and change the information about the task. When "Add task" is selected, the created task is read and inserted in the order immediately after the selected task, or the task is created and inserted by returning to the teaching window W3. can do. When "Delete Task" is selected, the selected task can be deleted from the task list.

In FIG. 10, when the operator performs a right-click operation on an arbitrary position in the teaching window W4, one of "teaching point list output", "IO map output", and "program output" is selected. can.
When "Teaching point list output" is selected, a list of TCP coordinates set for each object is output.
When "IO map output" is selected, a list of input / output (I / O) ports for the robot R is output.
When "program output" is selected, two types of robot programs, a simulation program and an actual machine program, are output corresponding to the job. The actual machine program has the timeout value of the waiting time due to the interlock valid, but the simulation program differs from each other in that the waiting time due to the interlock is invalidated.

(2-7) Job simulation When the button b4 is operated in the teaching window W4 of FIG. 10, the job simulation of the robot R corresponding to the task list is executed. In executing a job simulation, a robot program corresponding to the job is first created. That is, as described above, the program based on each task included in the task list is represented as a set of functions in which a program for executing a plurality of motions corresponding to the robot R is described. The motion parameters (movement speed, acceleration, acceleration time, deceleration time, etc.) for the movement of the robot R between the work elements corresponding to the continuous tasks may be predetermined as default values, or the operator may use them. It may be possible to set it.
By combining programs based on each task in order, a robot program corresponding to the job is created. In combining the programs based on each task, a branch process for switching a program to be executed depending on an input signal or a condition, a process for repeating a specific program, or the like may be incorporated.

In the present embodiment, the information processing device 2 creates a robot program, and the robot control device 3 executes the robot program.
The robot control device 3 calculates robot state data, which is information indicating the state of the robot R according to the passage of time, as the execution result of the robot program. The robot state data is, for example, information such as a change in the joint angle of the arm 51 with the passage of time, a locus of the hand 52 with the passage of time, and the like. This robot state data is returned from the robot control device 3 to the information processing device 2. The CAD software operates the robot R and the three-dimensional model of the object in the virtual space based on the robot state data, and displays a moving image (animation) of the movement of the robot R corresponding to the task as a simulation output.

If an error occurs when calculating the robot state data of the robot R, the cause of the error may be displayed in the status column of the teaching window W4 of FIG. Examples of the cause of the error include overspeed, non-achievement of target point, arrival of singular point, and the like.
Among the task lists shown in FIG. 10, an error task whose simulation result shows an error and a task other than the error task in the task list are displayed in different display modes (for example, different character colors and different background colors). ) May be displayed.
The teaching window W5 of FIG. 11 shows an example of displaying an error task in the task list of FIG. In this display example, the case where the last task "Place_to_PenProduct1_in_ProductTray" in the task list is an error task is shown, and by adding the mark M1 (frame line surrounding the task) to the error task, other than the error task. The display mode is different from that of the task.

In addition, it may be possible to execute a simulation for a work element corresponding to a part of the tasks selected by the operator in the task list.

(2-8) Area Check Next, the area check will be described with reference to FIGS. 12 and 13. FIG. 12 is a diagram showing a transition of the teaching window according to an example of the present embodiment. FIG. 13 is a diagram showing a display example of a hierarchical list in the present embodiment.

The area check means that the hand 52 of the robot R (an example of a robot component) is at least one object selected by an operator (in the example shown in FIG. 4, pens Pen1, Pen2, ..., Pen12, cap Cap1, Cap2, ..., Cap12, and at least one of the products PenProduct1, PenProduct2, ..., PenProduct12) is to be determined. When a plurality of robots are provided, the operator may be able to select the robot to be the target of the area check from among the plurality of robots. Since the robot can take a plurality of postures, the area check of the robot may be performed in any of the plurality of postures selected by the operator.

In the hierarchical list shown in FIG. 4, with a part or all of the objects selected, right-click any of the nodes 61 to 63 in the robot area RA with the pointing device, and then select "Area check". When selected, the teaching window W6 of FIG. 12 is displayed. In the teaching window W6, the posture for area check can be selected. In the teaching window W6, the area check is executed by selecting at least one posture and selecting the button b5 (“OK”).

Execution of the area check requires a calculation of inverse kinematics, and this calculation is performed by the robot control device 3. That is, the information processing device 2 passes information on the coordinate data based on the robot R and the three-dimensional model of each object and the TCP coordinate data of each object to the robot control device 3. If the robot control device 3 can obtain the joint angle of the arm 51 of the robot R for a specific object by inverse kinematics based on the information, it can be determined that the object can be reached.
As an example of FIG. 13, the result of the area check is, in the case of the area check for pens, for each pen included in the pen tray 11 for an unreachable pen (an example of an unreachable object). This is done by displaying the mark M2 (“NG”). Another display example is to display an unreachable object in a different color from the reachable object.

(3) Function of Robot Teaching Device 1 Next, the function of the robot teaching device 1 of the present embodiment will be described with reference to FIG. FIG. 14 is a functional block diagram of the robot teaching device 1 according to the embodiment.
As shown in FIG. 14, the robot teaching device 1 includes a display control unit 101, a task creation unit 102, a task update unit 103, a task replacement unit 104, a setting update unit 105, a grouping unit 106, a program creation unit 107, and a program execution unit. It includes 108, a state information calculation unit 109, a simulation unit 110, a determination unit 111, a posture selection unit 112, a reference point setting unit 113, a model arrangement unit 114, and an interlock setting unit 115.
The robot teaching device 1 further includes a task database 221, a hierarchical list database 222, a three-dimensional model database 223, and an execution log database 224.

In the following description, when the processing of the control unit 21 of the information processing apparatus 2 is referred to, the processing is performed by the CPU included in the control unit 21 executing the teaching software and / or the CAD software.

The display control unit 101 controls the display device 24 to display the execution results of the teaching software and the CAD software. In order to realize the function of the display control unit 101, the control unit 21 of the information processing device 2 generates image data including the output of the teaching software and the CAD software, buffers the image data, and transmits the image data to the display device 24. The display device 24 drives the display drive circuit to display an image on the display panel.

The task creation unit 102 has a function of creating a task which is information about a robot's work element with respect to an object based on an operation input of an operator.
In order to realize the function of the task creation unit 102, when the control unit 21 of the information processing device 2 receives the operation input of the operator from the input device 23, the type of work element (Function) of FIG. 6 is based on the operation input. And the task is created as a file containing the information of the target of the work element and recorded in the storage 22. The control unit 21 determines the task name according to a predetermined rule based on the type of the work element (Function) and the target (Target) of the work element. The storage 22 (example of the first storage unit) stores the task database 221 including the task created by the task creation unit 102.
The control unit 21 of the information processing apparatus 2 sequentially creates tasks corresponding to a plurality of work elements included in a job performed by the robot, whereby a plurality of tasks associated with the job are created as a task list. In the task database 221, each task is recorded in a state associated with a specific job.
The display control unit 101 refers to the task database 221 of the storage 22 and displays a task list, which is a list of a plurality of tasks, on the display device 24. By displaying the task list, it is possible to manage the jobs performed by the robot in an easy-to-understand manner when teaching the robot. In the present embodiment, the name of each task in the displayed task list is configured so that the work contents of the work elements of the robot can be recognized, so that the series of work contents can be easily understood by the operator intuitively. It has become.

The task creation unit 102 includes a target point of the work element, an approach point (example of the first point) which is a passing point before reaching the target point, and a departure point (first) which is a passing point after reaching the target point. It may have a function of setting information about at least one of the two points) in the task. In order to realize this function, the control unit 21 of the information processing apparatus 2 determines the approach point and the departure point based on the TCP of the target object (Target) of the work element and the local coordinate system. For example, on the Z axis of the local coordinate system of the object, the position of the predetermined magnification of the total length of the object is set as the approach point and the departure point. The control unit 21 updates the task database 221 so that the determined approach point and departure point information is included in the task.
By automatically setting the approach point and departure point, the teaching work of the operator is streamlined.

The display control unit 101 displays on the display device 24 the hierarchical data in which the components of the robot and the components of the object are described hierarchically.
The control unit 21 of the information processing apparatus 2 creates a hierarchical list by linking the teaching software and the CAD software. That is, the control unit 21 accepts an operation input for dragging a robot and an object in the CAD image to a desired node of the tree structure data format in a state of being selected by the pointing device of the input device 23, and is a hierarchical type of the tree structure. Create a list. The control unit 21 records the created hierarchical list in the hierarchical list database 222 of the storage 22. In the hierarchical list, each node corresponding to the component of the robot and the component of the object in the tree structure data is associated with the corresponding data of the 3D model recorded in the 3D model database 223. It has become.

Preferably, the task creation unit 102 has a function of creating a task based on an operation input of an operator who specifies a robot component of hierarchical data and a component of an object. In order to realize the function, the control unit 21 of the information processing apparatus 2 selects a node indicating a robot hand corresponding to the work of grasping a specific object and a node corresponding to the object from a hierarchical list. Create a task based on the operation input of the selected operator. Hierarchical lists allow operators to intuitively create tasks according to the content of work elements.

Preferably, as shown in FIG. 4, the display control unit 101 hierarchically displays the robot area RA (first area) for displaying the robot components hierarchically and the components of the object. The hierarchical list is displayed on the display device 24 separately from the object area PA (second area) for the purpose.
By displaying the robot area and the object area separately, when creating a task, a node indicating the robot hand corresponding to the work of grasping a specific object and a node corresponding to the object are selected. Sometimes it's easier to find the node you're looking for.

The task update unit 103 deletes one of the tasks in the task list based on the operator's operation input to the task list displayed on the display device 24, and stores it in the storage 22 (example of the first storage unit). It has a function of adding a task included in the task database 221 to the task list or changing the content of any of the tasks in the task list.
In order to realize the function of the task update unit 103, the control unit 21 of the information processing device 2 accesses the storage 22 based on the operation input of the operator received by the input device 23, and displays the task list included in the task database 221. rewrite. Since the operator can edit the contents of the job on a task-by-task basis, the teaching work is streamlined.

The order of the tasks included in the task list displayed on the display device 24 may define the execution order of a plurality of tasks. In that case, the task replacement unit 104 changes the order of the tasks included in the task list based on the operator's operation input to the task list displayed on the display device 24.
In order to realize the function of the task replacement unit 104, the control unit 21 of the information processing device 2 accesses the storage 22 based on the operation input of the operator received by the input device 23, and the task list included in the task database 221 is included in the task database 221. Update the order. Since the operator can change the execution order for each task, the robot can optimize the job and the teaching work is streamlined.

The setting update unit 105 deletes, changes, or adds information regarding at least one of the approach point and the departure point set in the task by the task creation unit 102 based on the operation input of the operator. It has a function.
In order to realize the function of the setting update unit 105, the control unit 21 of the information processing device 2 accesses the storage 22 based on the operation input of the operator received by the input device 23 in the task creation window (see FIG. 6). Then, the information on the approach point and the departure point of the task included in the task database 221 is updated.
Since the operator can delete, change, or add the approach point and the departure point of the work element at the desired position by the setting update unit 105, the robot can be taught to the operator's desired operation. In particular, in the present embodiment, since the execution result of the task can be played back as a moving image by the CAD software, the operator deletes, changes, or adds the approach point and / or the departure point after seeing the moving image playback result. By doing so, it is possible to teach to optimize the operation of the robot.

The grouping unit 106 has a function of grouping two or more objects based on an operation input of an operator who specifies two or more objects from the hierarchical list displayed on the display device 24. In that case, the task creation unit 102 provides information on at least one of the approach points and the departure points set for any of the two or more grouped objects. It is also set for other objects of.

In order to realize the function of the grouping unit 106, when the control unit 21 receives the operation input of the operator from the input device 23 in the information processing device 2, two or more objects specified by the operation input are grouped as the same group. Update task database 221 to be associated. Then, when an approach point is set for any one of the two or more grouped objects, the control unit 21 sets the approach point of the other grouped objects, for example. The task database 221 is updated so as to be so. The approach point and departure point of the other grouped objects are set so as to reflect the TCP offset amount of the two or more grouped objects as described above.
By grouping two or more objects, it becomes easy to set an approach point and / or a departure point for a plurality of objects.

The program creation unit 107 has a function of creating a program for causing the robot 5 to execute a work element corresponding to the task based on the task created by the task creation unit 102.
In order to realize the function of the program creation unit 107, the control unit 21 of the information processing apparatus 2 determines the type of work element included in the task, the target of the work element, the approach point, the departure point, the motion parameter, and the interlock. Based on the settings, create a function that describes a program for making the robot execute the work element corresponding to the task. For example, the program creation unit 107 refers to the information included in the task, and rewrites the coordinate position and the like in a predetermined program format according to the type of the work element stored in the storage 22 (example of the first storage unit). Then, the program is created automatically.

The program execution unit 108 was created by the program creation unit 107 based on at least one selected task based on the operation input of the operator who selects at least one task in the task list displayed on the display device 24. It has a function to execute a robot program including a program.
In order to realize the function of the program execution unit 108, the control unit 21 of the information processing device 2 transmits a robot program created based on at least one task to the robot control device 3 via the communication interface unit 25. In the robot control device 3, when the robot program is received by the communication interface unit 33, the control unit 31 executes the robot program. The program created based on each task is composed of a set of functions. The control unit 31 sequentially executes the programs created based on each task included in the task list.

The display control unit 101 displays an error task, which is a task whose execution result by the program execution unit 108 indicates an error in the task list, and a task other than the error task in the task list in different display modes.
As described above, the control unit 31 of the robot control device 3 executes the robot program so as to sequentially execute the programs created based on each task included in the task list. Then, the control unit 31 records the execution log data including the execution result for each task (success or error result, and error cause in case of error) in the execution log database 224. The causes of errors are, for example, overspeed, non-achievement of target point, arrival of singular point, and the like. Next, the control unit 31 transmits the execution log data to the information processing device 2 via the communication interface unit 33. When the control unit 21 of the information processing device 2 acquires the execution log data from the robot control device 3, the control unit 21 displays the task list on the display device 24 so that the execution result included in the execution log data is reflected. Specifically, the task list is displayed so that the error task whose execution result shows an error and the task other than the error task are displayed in different display modes (see, for example, FIG. 11). Therefore, the operator can immediately recognize the work element in which the error has occurred in the job, and can deal with the approach point of the task, the departure point, the correction of the set value of the motion parameter, and the like.

The storage 22 (examples of the second storage unit and the third storage unit) stores the three-dimensional model database 223 including the three-dimensional model of the robot R in the virtual space and the information of the three-dimensional model of the object.
The state information calculation unit 109 has a function of calculating robot state data (example of state information), which is information indicating the state of the robot according to the passage of time, based on the execution result by the program execution unit 108.
The simulation unit 110 has a function of operating the three-dimensional model in the virtual space and displaying it on the display device 24 based on the robot state data obtained by the state information calculation unit 109.

In order to realize the functions of the state information calculation unit 109 and the simulation unit 110, the control unit 31 of the robot control device 3 executes the programs created based on each task in order, as described above, to provide information. The robot program received from the processing device 2 is executed. Then, the control unit 31 acquires the robot state data of the entire job as the execution result of the robot program. The robot state data is data of physical quantities (for example, the joint angle of the arm, the speed and acceleration of the arm, the trajectory of each part) indicating the state of the robot according to the passage of time. The control unit 21 of the information processing device 2 acquires execution log data including robot state data from the robot control device 3 and records it in the execution log database 224. Further, the control unit 21 operates the robot and the three-dimensional model of the object in the virtual space based on the execution log data and displays them on the display device 24.
Therefore, since the operator can visually confirm the operation of the robot for each task, the set value of each task (for example, approach point, departure point, motion parameter, etc.) and the arrangement of the object (for example, FIG. 3). It becomes easy to reexamine the arrangement of the cap tray 12 and the like.

When the component of any one robot and at least one object are selected in the hierarchical list based on the operation input of the operator, the determination unit 111 sets the at least one object in the virtual space. It has a function of determining whether or not it can be reached by the hand 52 of the robot R (an example of a component of the robot). This function corresponds to the area check described above.
In order to realize the function of the determination unit 111, the control unit 21 of the information processing device 2 uses the communication interface unit 25 to provide coordinate data based on a three-dimensional model of the robot and the object, and data of TCP coordinates of the object. Is transmitted to the robot control device 3. The control unit 31 of the robot control device 3 determines whether or not the joint angle of the arm of the robot can be obtained by inverse kinematics for a specific object based on the received data. If the joint angle can be obtained, it means that the robot's hand can reach the object, and if the joint angle cannot be obtained, it means that the robot's hand cannot reach the object.
Since the determination unit 111 knows whether the robot's hand can reach a specific object before creating the robot program, it is possible to study the optimization of the arrangement of the object in advance and improve the efficiency of the teaching work. ..

The display control unit 101 makes it possible to identify an unreachable object, which is an object determined by the determination unit 111 to be unreachable among a plurality of objects, from an object other than the unreachable object. Hierarchical data may be displayed.
In the area check, as shown in FIG. 13, preferably, an object determined to be unreachable (unreachable object) among a plurality of objects can be distinguished from an object other than the unreachable object. Display a hierarchical list so that In FIG. 13, the unreachable object is displayed so as to be distinguishable depending on the presence or absence of the mark M2, but various methods can be adopted as the identification method. For example, instead of the example of FIG. 13, a display process such as turning the unreachable pen (Pen) red or reducing the brightness may be performed.

The posture selection unit 112 has a function of selecting one of a plurality of predetermined postures for the robot based on the operation input of the operator.
In that case, the determination unit 111 determines whether or not at least one object is reachable by the components of the robot, provided that the robot takes the posture selected by the attitude selection unit 112. When the posture is selected, the control unit 31 of the robot control device 3 determines the joint angle of the robot arm by inverse kinematics with respect to a specific object while the robot is fixed in the selected posture. Determine if it can be determined.
By providing the posture selection unit 112, the operator can consider the arrangement of the object and the like in advance while considering various postures of the robot.

The reference point setting unit 113 calculates TCP (an example of a reference point) in the virtual space, which is a reference for the robot's work on the object, based on the position in the virtual space of the three-dimensional model of the object, and TCP. Has a function to associate with an object.
In order to realize the function of the reference point setting unit 113, the control unit 21 of the information processing apparatus 2 sets the TCP of the object to be processed and sets the TCP of the object based on the data of the three-dimensional model of the object to be processed. Set the local coordinate system of the object as a reference. In this embodiment, since the teaching software and the CAD software are linked, the TCP of the object can be calculated automatically and accurately. It is preferable that the reference point setting unit 113 calculates the position of the center of gravity of the object as TCP.
In the present embodiment, the trajectory of the robot's hand is determined based on the TCP set in the hand corresponding to the work of grasping the object, the TCP of the object as the target, and the local coordinate system thereof. Therefore, it is possible to teach the work by hand with high accuracy. Further, by calculating the position of the center of gravity of the object as TCP, it is possible to specify the position as TCP where it is easy to avoid interference with an object other than the object (other object, equipment, etc.).

The model arrangement unit 114 has a function of arranging and displaying a three-dimensional model of an object, TCP, and a local coordinate system of a three-dimensional model with TCP as the origin in a virtual space. In order to realize the function of the model arrangement unit 114, the control unit 21 of the information processing apparatus 2 associates TCP and the data of the local coordinate system of the three-dimensional model with TCP as the origin with each object. Record in the 3D model database 223 of the storage 22. The control unit 21 refers to the 3D model database 223 and displays the 3D model of the object and the TCP and the local coordinate system of the object on the display device 24.
By displaying the three-dimensional model of the object and the TCP and the local coordinate system of the object, the operator can easily examine the positions of the approach point AP and the departure point DP on the CAD window.

As described in association with FIG. 9, the association of TCP to the object may not be automatic, but may be performed based on the operation input of the operator.
That is, the display control unit 101 displays the three-dimensional model in the virtual space, and the reference point setting unit 113 is based on the operation input of the operator that associates the predetermined point in the virtual space with the object of the hierarchical data. , The above-mentioned predetermined point may be associated with the object as TCP. At this time, when the reference point setting unit 113 does not associate TCP with the object, it may notify that TCP is not associated with the object.
In order to realize the function of the reference point setting unit 113, the input device 23 of the information processing device 2 sets the TCP model (see FIG. 9) at a predetermined point and corresponds to a specific object in the hierarchical list. Accepts operation input to drag to a node. The control unit 21 updates the three-dimensional model database 223 of the storage 22 so as to associate the predetermined point with the object as TCP of the object.
When TCP is not associated with the object, the control unit 21 can urge the operator to associate TCP with the object, for example, by outputting a warning display to the display device 24.

The display control unit 101 may hierarchically display the TCP associated with the object in the lower layer of the object on the hierarchical data. In this case, when displaying the hierarchical list, the control unit 21 of the information processing apparatus 2 reads the TCP associated with each object in the hierarchical list database 222 and puts it in the lower layer of each object in the hierarchical list. Display TCP coordinates. As a result, the operator can visually recognize the TCP coordinates of each object.

The interlock setting unit 115 has a function of setting a timeout value of a waiting time for waiting for the robot operation at at least one of a target point, an approach point, and a departure point set for a task based on an operation input of an operator. Be prepared.
In order to realize the function of the interlock setting unit 115, the control unit 21 of the information processing device 2 is based on the operation input of the operator received by the input device 23 (for example, the operation input in the teaching window W3 of FIG. 6). Access the storage 22 and rewrite the timeout value of the interlock waiting time set at the specific approach point or departure point included in the task included in the task database 221.
The interlock setting unit 115 allows the operator to easily set the timeout value of the waiting time due to the interlock for each work element when performing offline teaching of the robot.

The simulation unit 110 may invalidate the waiting time due to the interlock and operate the three-dimensional model in the virtual space. That is, when the simulation program is executed, the three-dimensional model is operated without waiting due to the interlock. As a result, the operator can check the execution result of the program by paying attention to the movement of the robot without stopping the robot in the virtual space.

(4) Main processing of the robot teaching device 1 Next, with reference to FIGS. 15 and 16, the main processing of the robot teaching device 1 will be described with reference to a sequence chart.
FIG. 15 is an example of a sequence chart showing an area check process of the robot teaching device according to the present embodiment. FIG. 16 is an example of a sequence chart showing job execution processing of the robot teaching device according to the present embodiment.

(4-1) Area check (Fig. 15)
First, the area check process will be described with reference to the sequence chart of FIG.
By right-clicking the node corresponding to any object in the robot area RA of the hierarchical list shown in FIG. 4 with the pointing device and then selecting "Area check" (step S10: YES), the area Execution of the check is started.
First, when the posture selection unit 112 receives an operation input for selecting the posture of the robot R of the operator (step S12: YES), the posture selection unit 112 has a plurality of predetermined postures with respect to the robot R based on the operation input. Select one of the postures.

Next, the determination unit 111 determines whether or not the object specified when the "area check" is selected is reachable by the hand 52 of the robot R in the virtual space, and displays the reachability result on the display device 24. It is also possible to specify two or more objects and perform an area check. Specifically, the processing of the determination unit 111 is performed as follows.
The information processing device 2 transmits the coordinate data based on the robot R and the three-dimensional model of each object and the coordinate data of TCP of each object to the robot control device 3 via the communication interface unit 25 (step S14). The robot control device 3 calculates the joint angle of the arm 51 of the robot R for each designated object based on the received data by inverse kinematics (step S16). The robot control device 3 determines whether or not the arm 51 can reach the object based on whether or not the joint angle of the arm 51 is obtained by step S16 (step S18). The processes of steps S16 and S18 are performed one by one for the postures of all the robots R selected by the posture selection unit 112. When the robot control device 3 finishes processing for all postures (step S20: YES), the robot control device 3 returns the area check result (reachability result) for each posture of the robot R to the information processing device 2 (step S22). ). The information processing device 2 displays the received area check result on the display device 24, for example, as shown in FIG. 13 (step S24).

(4-2) Execution of job simulation (Fig. 16)
Next, the process of executing the simulation of the job will be described with reference to the sequence chart of FIG.
When the operation input (simulation execution instruction) for the button b4 by the operator is received in the teaching window W4 of FIG. 10 (step S30: YES), the program creation unit 107 creates a robot program for executing the job to the robot R. (Step S32). This robot program includes a plurality of functions in which a program for causing the robot R to execute a work element corresponding to each task in the task list corresponding to the job is described.

The created robot program is transmitted from the information processing device 2 to the robot control device 3 (step S34), and is executed by the robot control device 3. That is, the program execution unit 108 executes the robot program in task units (step S36). The state information calculation unit 109 calculates robot state data, which is information indicating the state of the robot R according to the passage of time, based on the execution result by the program execution unit 108, and stores the execution log data including the robot state data. Record in 32 (step S38). The processing of steps S36 and S38 is performed until all the tasks included in the task list are completed.
When the processing for all the tasks is completed (step S40: YES), the robot control device 3 transmits the execution log data recorded in the storage 32 to the information processing device 2 (step S42). The information processing apparatus 2 records the received execution log data in the execution log database 224.
Next, the simulation unit 110 operates the three-dimensional model in the virtual space based on the robot state data (that is, the robot state data obtained by the state information calculation unit 109) included in the execution log data received in step S42. And display it on the display device 24 (step S44).

(5) Modification Example Next, a modification of the above-described embodiment will be described.
(5-1) Modification 1
In the area check described in the above-described embodiment, an example (see FIG. 13) of displaying only whether or not the robot R can reach the object by the hand 52 is given, but by providing more detailed information, the operator can use it. Can support offline teaching. For example, the robot R may provide information on how close an object determined to be unreachable by the hand 52 to the hand 52. This provides useful information, for example, about the rearrangement of the object.
In this modification, the determination unit 111 specifies the degree of proximity of the robot R's hand 52 to an unreachable object that is determined to be unreachable by the robot R's hand 52 (an example of a robot component). Then, the display control unit 101 displays so that the degree of proximity of the hand 52 of the robot R to the unreachable object can be recognized.
FIG. 17 shows an example of displaying an index indicating the degree of proximity of the hand 52. As shown in FIG. 17, the mark M3 is displayed for the unreachable object. The mark M3 has a display format of "NG (*) (*: 1 to 5)", and the degree of proximity (for example, the smaller the number, the closer) can be known by the numbers in parentheses. ing. The degree of proximity can be calculated from the difference value between the obtained joint angle of the arm 51 and the limit angle of the joint angle.

(5-2) Modification 2
In the second modification, information is provided as to how much the object determined to be reachable by the hand 52 of the robot R has a margin with respect to the hand 52. By providing such information, offline teaching can also be supported. For example, useful information about the rearrangement of an object can be obtained.
In this modification, the determination unit 111 specifies the margin of arrival of the robot R's hand 52 with respect to the reachable object that is the object determined to be reachable by the robot R's hand 52, and the display control unit 101 determines. The margin of arrival of the hand 52 of the robot R with respect to the reachable object is displayed so as to be recognizable. For example, as shown in FIG. 17, the mark M4 is displayed on the reachable object. The mark M4 has a display format of "OK (*) (*: 1 to 5)", and the number in parentheses indicates the degree of margin (for example, the larger the number, the more margin). ..
The margin can be calculated from the difference value between the obtained joint angle of the arm 51 and the limit angle of the joint angle.

(5-3) Modification 3
The determination unit 111 may determine whether or not each of the plurality of objects can be reached by the hand 52 of the robot R when any one robot is selected based on the operation input of the operator. ..
That is, it may be determined whether or not the robot R can be reached based on the operation input in which the robot R is selected in the hierarchical list. As a result, it is possible to save the operator the trouble of selecting an object for area check. In addition, determining the reachability of all objects provides useful information for examining the overall arrangement of all objects.

(5-4) Modification 4
The program creation unit 107 may create a program so as to determine an error when the waiting time due to the interlock reaches the timeout value.
If the waiting time due to the interlock reaches the timeout value when the robot program is executed, the operator can recognize that there is a problem with the input / output signal to the robot R, for example, by determining that it is an error. ..

(5-5) Modification 5
The program creation unit 107 may create a program so that the robot R takes a predetermined reference posture when it is determined that an error occurs due to the time-out of the interlock.
When it is determined that an error occurs as shown in the modified example 4, it is preferable to stop the operation of the robot R and return it to the reference posture (for example, the initial posture) rather than performing the operation after the error occurs. In some cases.

(5-6) Modification 6
When the program creation unit 107 determines that an error occurs due to the time-out of the interlock, the program creation unit 107 refers to the task database 221 of the storage 22 (example of the first storage unit) and among a plurality of tasks based on the operation input of the operator. A program may be created so that the robot R executes a work element corresponding to any task.
If an error is determined as shown in Modification 4, the robot R may be made to execute a specific work element. An example of a particular working element is placing the currently gripped object on an error shelf.

Although the embodiment of the robot teaching device of the present invention has been described in detail above, the present invention is not limited to the above embodiment. Further, the above-described embodiment can be variously improved or modified without departing from the gist of the present invention.
For example, the robot teaching device according to the above-described embodiment does not have to have all the functions shown in the functional block diagram of FIG. 14, but may have at least some functions.
In the above-described embodiment, the robot teaching device includes two devices, an information processing device and a robot control device, but the present invention is not limited to this, and the robot teaching device may be configured as an integrated device.
In the above-described embodiment, the case where the input device of the information processing device includes the pointing device has been described, but the present invention is not limited to this, and other devices may be used. For example, a display panel provided with a touch input function may be used to accept touch input by an operator.

According to the above description, a program for realizing at least a part of the functions shown in the functional block diagram of FIG. 14 on a computer, and a computer-readable storage medium (nonvolatile storage medium) in which the program is recorded. It is understood by those skilled in the art that) is disclosed.

1 ... Robot teaching device, 2 ... Information processing device, 21 ... Control unit, 22 ... Storage, 23 ... Input device, 24 ... Display device, 25 ... Communication interface unit, 3 ... Robot control device, 31 ... Control unit, 32 ... Storage, 33 ... communication interface unit, 11 ... pen tray, P ... pen group, 12 ... cap tray, C ... cap group, 13 ... jig, 14 ... product tray, A1 to A12 ... product, EC ... communication network cable, R ... Robot, 51 ... Arm, 52 ... Hand, 61-68 ... Node, 101 ... Display control unit, 102 ... Task creation unit, 103 ... Task update unit, 104 ... Task replacement unit, 105 ... Setting update unit, 106 ... Grouping Unit, 107 ... Program creation unit, 108 ... Program execution unit, 109 ... State information calculation unit, 110 ... Simulation unit, 111 ... Judgment unit, 112 ... Attitude selection unit, 113 ... Reference point setting unit, 114 ... Model placement unit, 115 ... Interlock setting unit, 221 ... Task database, 222 ... Hierarchical list database, 223 ... Three-dimensional model database, 224 ... Execution log database, RA ... Robot area, PA ... Object area, W1 to W6 ... Window, b1 ~ B4 ... Button, AP ... Approach point, TP ... Target point, DP ... Departure point, T ... Table

Claims (5)

A display control unit that displays hierarchical data in which the components of the robot and the components of the object that is the work target of the robot are hierarchically described on the display device.
A storage unit that stores the 3D model of the robot in the virtual space and the 3D model of the object.
In the hierarchical data, when any one of the components of the robot and at least one object are selected based on the operation input of the operator, the at least one object is said to be in the virtual space. A judgment unit that determines whether or not it is reachable by the components of the robot,
Equipped with
The determination unit identifies the degree of proximity of the robot component to an unreachable object that is determined to be unreachable by the robot component.
The display control unit is a robot teaching device that displays so that the degree of proximity of a component of the robot to the unreachable object can be recognized . A display control unit that displays hierarchical data in which the components of the robot and the components of the object that is the work target of the robot are hierarchically described on the display device.
A storage unit that stores the 3D model of the robot in the virtual space and the 3D model of the object.
In the hierarchical data, when any one of the components of the robot and at least one object are selected based on the operation input of the operator, the at least one object is said to be in the virtual space. A judgment unit that determines whether or not it is reachable by the components of the robot,
Equipped with
The determination unit specifies the margin of arrival of the component of the robot with respect to the reachable object which is the object determined to be reachable by the component of the robot.
The display control unit is a robot teaching device that displays so that the margin of arrival of the components of the robot with respect to the reachable object can be recognized. Further, a posture selection unit for selecting one of the postures of the arm determined from the indirect angle of the arm of the robot, which is predetermined for the robot based on the operation input of the operator, is further provided.
The determination unit determines whether or not the at least one object is reachable by a component of the robot when the robot takes the posture selected by the posture selection unit.
The robot teaching device according to claim 1 or 2 . The hierarchical data includes a plurality of objects, and the hierarchical data includes a plurality of objects.
The display control unit makes it possible to identify an unreachable object, which is an object determined by the determination unit to be unreachable among the plurality of objects, from an object other than the unreachable object. , Display the hierarchical data,
The robot teaching device according to any one of claims 1 to 3 . The hierarchical data includes a plurality of objects, and the hierarchical data includes a plurality of objects.
The determination unit determines whether or not each of the plurality of objects is reachable by the components of the robot when any one robot is selected based on the operation input of the operator.
The robot teaching device according to any one of claims 1 to 4 .

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