JP7436797B2 - Robot program creation support device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an assisting device that assists in creating a program for a robot.

Conventionally, in order to allow workers to appropriately recognize the robot's movements, there is a device that displays the robot's movement locus, branching source position, and branching destination position in visually understandable figures that overlap with the robot. There is (see Patent Document 1).

JP 2018-51653 Publication

By the way, in the device described in Patent Document 1, after the motion trajectory branches, a movement command for moving the robot to the same target position is displayed as a plurality of different motion trajectories. Therefore, the same movement command may be mistakenly recognized as a plurality of different movement commands.

The present invention has been made to solve the above problems, and its main purpose is to suppress misrecognition of each movement command in a program creation support device that displays each movement command of a robot by each motion trajectory. It is in.

The first means to solve the above problem is
A display section for displaying the motion trajectory of the robot at a position corresponding to the robot, and creating a program including each movement instruction for moving the robot and a branching instruction for branching the motion trajectory according to conditions. A support device that supports using a part,
a first processing unit that displays each movement command according to each movement trajectory from each movement source position to each target position of the robot;
a second processing unit that assigns each identification code to each of the movement trajectories that display each of the movement commands, and gives the same identification code to a plurality of different movement trajectories that display the same movement command;
Equipped with.

According to the above configuration, the display section displays the motion trajectory of the robot at a position corresponding to the robot. The robot program creation support device uses a display unit to support the creation of a program including movement commands for moving the robot and branch commands for branching the motion trajectory according to conditions.

Here, the first processing unit displays each movement command using each motion trajectory from each movement source position to each target position of the robot. Therefore, after the movement trajectory branches due to a branch instruction, the same movement command is displayed as a plurality of different movement trajectories. In this regard, the second processing section assigns each identification code to each motion trajectory displaying each movement command, and assigns the same identification code to a plurality of different motion trajectories displaying the same movement command. Therefore, the robot program creation support device can recognize a plurality of different motion trajectories that display the same movement command as the same movement command based on the identification code. Therefore, in the program creation support device that displays each movement command of the robot by each movement trajectory, it is possible to suppress misrecognition of each movement command.

In the second method,
a third processing unit configured to editably display instructions including the movement instructions and the branch instructions in a predetermined display area of the display unit;
The first processing unit enables editing of each of the movement trajectories that display each of the movement commands,
In the flowchart, the second processing unit assigns the same identification code as each identification code assigned to each of the movement trajectories to each of the movement commands corresponding to each of the movement trajectories;
When each of the movement trajectories displaying each of the movement commands is edited, in the flowchart, each movement is given the same identification code as the identification code given to each of the edited movement trajectories. A fourth processing unit is provided that reflects the edited results of each of the motion trajectories in the command.

According to the above configuration, in the predetermined display area of the display section, the third processing section displays the instructions including each movement instruction and branch instruction in an editable flowchart. Therefore, the operator can create a program by editing instructions including each movement instruction and branch instruction displayed in the flowchart. Further, the first processing unit allows editing of each motion trajectory displaying each movement command. Therefore, the operator can edit each motion trajectory that displays each movement command and adjust each motion trajectory.

In the flowchart, the second processing unit assigns each movement command corresponding to each motion trajectory the same identification code as each identification code assigned to each motion trajectory. Therefore, each motion trajectory displaying each movement command can be associated with each movement command in the flowchart using an identification code. Here, when each movement trajectory displaying each movement command is edited, the fourth processing unit assigns the same identification code as each identification code given to each edited movement trajectory in the flowchart. The edited results of each movement trajectory are reflected in each movement command. Therefore, by editing each movement trajectory that displays each movement command, the operator can edit each movement command associated with the identification code in the flowchart. Furthermore, since the same identification code is given to multiple different movement trajectories that display the same movement command, editing any of the different movement trajectories that display the same movement command will be handled by the identification code. You can edit attached movement instructions.

In the third means, the fourth processing unit assigns, when each of the movement instructions is edited in the flowchart, the same identification code as each of the identification codes assigned to each of the edited movement instructions. The edited movement commands reflect the edited movement trajectories. According to this configuration, the operator can edit each movement trajectory associated with the identification code by editing each movement command in the flowchart. Furthermore, since the same identification code is given to multiple different motion trajectories that display the same movement command, if you edit each movement command in the flowchart, the same movement command that is associated with the identification code will be displayed. Multiple different motion trajectories can be edited together.

In the fourth means, the third processing unit selectably displays each of the movement instructions in the flowchart, and the first processing unit, when any of the movement instructions is selected in the flowchart, The motion trajectory to which the same identification code as the identification code given to the selected movement command is given is displayed in a state indicating that it has been selected.

According to the above configuration, the third processing unit selectably displays each movement command in the flowchart. Therefore, the operator can select the movement command that he or she wishes to edit in the flowchart. When one of the movement instructions is selected in the flowchart, the first processing unit is configured to represent that a movement trajectory to which an identification code identical to that of the selected movement instruction has been added is selected. Display by status. Therefore, when the operator selects a movement command in the flowchart, it becomes easier for the operator to understand the motion trajectory that displays the selected movement command. Furthermore, the same identification code is given to a plurality of different movement trajectories that display the same movement command. Therefore, when a movement command corresponding to a plurality of motion trajectories is selected, all of the plurality of motion trajectories displaying the selected movement command can be displayed in a state indicating that they have been selected. Therefore, the operator can easily understand the correspondence between each movement command and each movement trajectory.

In the fifth means, the first processing unit selectably displays each of the movement trajectories, and the third processing unit displays each movement command when one of the movement trajectories is selected. Then, the movement command to which the same identification code as the identification code given to the selected motion trajectory is given is displayed in a state indicating that it has been selected in the flowchart.

According to the above configuration, the first processing section selectably displays each motion trajectory. Therefore, the operator can select the motion trajectory that he or she wishes to edit. When any one of the movement trajectories displaying each movement command is selected, the third processing unit converts the movement command to which the same identification code is given to the selected movement trajectory into the flowchart. is displayed in a state indicating that it has been selected. Therefore, when the operator selects one of the movement trajectories displaying each movement command, it becomes easier for the operator to understand the movement command corresponding to the selected movement trajectory in the flowchart. Furthermore, the same identification code is given to a plurality of different movement trajectories that display the same movement command. Therefore, even if you select any of multiple different movement trajectories that display the same movement command, the movement command associated with the selected movement trajectory by the identification code will be displayed in a state indicating that it has been selected in the flowchart. can do. Therefore, the operator can easily understand the correspondence between each movement trajectory and each movement command.

In the sixth means, when any of the movement trajectories displaying the movement commands is selected, the first processing unit may be configured to have an identification code that is the same as the identification code given to the selected movement trajectory. All of the motion trajectories given identification codes are displayed in a state indicating that they have been selected. According to such a configuration, when one of a plurality of different motion trajectories that display the same movement command is selected, all motion trajectories that are given the same identification code as the selected motion trajectory are selected. It can be displayed in a state that represents. Therefore, it becomes easier for the operator to grasp all movement trajectories that display the same movement command.

For example, there may be a case where the operator wants to make a plurality of different movement trajectories for moving to a common target position correspond to a plurality of different movement commands.

In this regard, in the seventh means, the second processing section is capable of editing each of the identification codes given to each of the motion trajectories. Therefore, the operator can change the correspondence between the motion trajectory and the movement command by editing the identification code given to the motion trajectory.

A block diagram showing a robot system. A flowchart showing the steps to complete the program. The figure which shows the image displayed on the display. A schematic diagram showing a two-dimensional flowchart. FIG. 5 is a schematic diagram showing a three-dimensional flowchart corresponding to FIG. 4; A schematic diagram showing the procedure for creating a program. FIG. 3 is a schematic diagram showing editing of a movement command in a two-dimensional flowchart and reflection of the editing results on a three-dimensional flowchart. FIG. 3 is a schematic diagram showing editing of arrows representing motion trajectories in a three-dimensional flowchart and reflection of the editing results on a two-dimensional flowchart.

An embodiment embodied in a robot system used in a machine assembly factory will be described below with reference to the drawings. As shown in FIG. 1, the robot system 100 includes a robot 10, a controller 20, a teaching pendant 30, and the like.

The robot 10 is, for example, a six-axis vertically articulated robot. In the robot 10, the arm of each axis is driven by a motor provided on each axis. A work is performed on a workpiece by a hand (tool) or the like attached to the tip of the sixth axis arm.

The controller 20 (control device) is a main body that controls the robot 10, and includes a microcomputer having a CPU, ROM, RAM, input/output interface, and the like. The controller 20 operates the robot 10 by executing a program stored in a storage unit such as a ROM. The controller 20 reads the program created by the operator from the teaching pendant 30 into the storage unit. Further, the controller 20 operates the robot 10 in accordance with instructions from a teaching pendant 30 operated by an operator.

The controller 20 knows the operating state of the robot 10, for example, operation information such as where the robot 10 is at its current target position and what kind of operation trajectory it draws to reach the target position. Further, since the controller 20 stores and executes the above program, it knows the command currently being executed and the command to be executed after that command. The controller 20 outputs various types of operation information indicating the operating state of the robot 10 to the teaching pendant 30.

The teaching pendant 30 (teaching device) includes a microcomputer similar to the controller 20, various key switches, a display 31 (see FIG. 3), and the like. The operator performs various input operations using key switches. For example, a pointer is displayed on the display 31 (display unit), and the operator can move the pointer to select an icon or the like on the screen. Furthermore, the display 31 is a touch panel that can detect operations by the operator. The operator can select icons and the like on the screen by touching the touch panel. The worker can also select an icon or the like on the screen by moving the pointer displayed on the display 31 with a mouse and performing a click operation.

The worker can create a program by operating the teaching pendant 30 (robot program creation support device). The teaching pendant 30 creates a simulation image and a motion trajectory of the robot 10 based on the created program and the operating state of the robot 10 output from the controller 20, and displays them on the display 31. The teaching pendant 30 realizes the functions of a first processing section, a second processing section, a third processing section, and a fourth processing section.

FIG. 2 is a flowchart showing the steps up to completion of the program. This series of steps is performed by an operator using the teaching pendant 30.

As shown in the figure, first a program is created and edited. The program includes movement commands for moving the robot 10 and non-movement commands that are not movement commands. An operator creates a program by sequentially setting these instructions. The program is also edited based on the execution results of the created program. The man-hour ratio of this step is approximately 50% of the total man-hours required to complete the program.

Next, each target position of the robot 10 is taught based on the work to be performed by the robot 10. The operator teaches each target position by directly writing each target position of each movement command in the program or by indicating each target position in a simulation image of the robot 10. The man-hour ratio of this step is approximately 30% of the total man-hours required to complete the program.

Next, execute and check the program. The operator executes and confirms the program by actually operating the robot 10 by executing the program, or by confirming the operation of the robot 10 in a simulation image. The man-hour ratio of this step is approximately 20% of the total man-hours required to complete the program.

The program creation support of this embodiment supports all of these steps. That is, the teaching pendant 30 not only makes it possible to recognize the movements of the robot 10, but also supports creation and editing of programs and teaching of target positions.

FIG. 3 is a diagram showing an image displayed on the display 31. In the left area 32 (predetermined display area) of the display 31, a two-dimensional flowchart (2D flow) representing the program of the robot 10 is displayed. Note that the program for the robot 10 may be written using several thousand lines of instructions.

The "commands" include movement commands for moving the robot 10 and non-movement commands that are not movement commands. The movement command is a command to move the control point of the robot 10 (the tip of the sixth axis arm) to the target position. The non-movement command includes a standby command such as "Wait", an output command to output ON or OFF to an IO port, and the like. “Judgment” is a judgment instruction for judging various conditions. For example, a judgment instruction (branch instruction) causes a movement instruction written under "Condition 1" to be executed when "Condition 1" is met, and executes a movement instruction written under "Condition 2" when "Condition 2" is met. Executes the written movement command, etc. That is, the judgment command branches the motion trajectory by instructing a movement command to be executed subsequently depending on the conditions. Icons 33 and 34 indicate the start and end of the judgment command, respectively. That is, the teaching pendant 30 (third processing unit) displays commands including each movement command and determination command in a two-dimensional flowchart (flowchart) in an editable manner in the left area 32 of the display 31.

In an area other than the left area 32 of the display 31, the image 10A of the robot 10 as well as motion trajectories L1 to L6 indicating each movement command are displayed. The range of the motion trajectory to be displayed can be specified by the operator. For example, the circle mark P0 is the operation start position of the robot 10. Circle marks P1 to P5, etc. are each target position of each movement command (Move) of the robot 10. The diamond mark J indicates a judgment order. That is, a three-dimensional flowchart (3D flow) is constructed by each of the operation trajectories L1 to L6, the circles P1 to P5, the diamond J, and the like.

FIG. 4 is a schematic diagram showing a two-dimensional flowchart. A series of processes displayed in a two-dimensional flowchart are executed by the teaching pendant 30.

A “conditional branch” is a judgment instruction that instructs a subsequent movement instruction (Move P1 or Move P2) depending on whether Condition 1 is satisfied, for example. Then, when condition 1 is satisfied in the "conditional branch", "Move P1" is executed. “Move P1” is a movement command to move the control point of the robot 10 to the target position P1.

On the other hand, if condition 1 is not satisfied in the "conditional branch", "Move P2" is executed. “Move P2” is a movement command to move the control point of the robot 10 to the target position P2.

Then, after executing "Move P1" or "Move P2", a movement command (Move P3) is executed. “Move P3” is a movement command to move the control point of the robot 10 to the target position P3.

Here, the teaching pendant 30 (second processing section) assigns each ID (each identification code) to each movement command. For example, "Move P1", "Move P2", and "Move P3" are assigned IDs "1", "2", and "3", respectively. The ID may be any code that can identify each movement command, and is composed of numbers, letters, and the like.

FIG. 5 is a schematic diagram showing a three-dimensional flowchart corresponding to FIG. 4. A series of processes displayed in a three-dimensional flowchart are executed by the teaching pendant 30.

The "conditional branch" is similar to the "conditional branch" in FIG. Each arrow represents a respective movement command. Specifically, the base position of each arrow indicates each movement source position of each movement command. The tip position of each arrow indicates each target position of each movement command. The straight line portion (line portion) of each arrow indicates the movement trajectory of the robot 10 according to each movement command. That is, the teaching pendant 30 (first processing section) displays each movement command using each movement trajectory of the robot 10 from each movement source position to each target position.

Here, the teaching pendant 30 (second processing section) assigns each ID (each identification code) to each arrow (each movement trajectory) that displays each movement command. The ID given to each movement command in FIG. 4 corresponds to the ID given to each arrow in FIG. That is, the teaching pendant 30 gives each arrow in FIG. 5 corresponding to each movement command in FIG. 4 the same ID as each ID given to each movement command. The teaching pendant 30 then assigns the same ID to a plurality of different (separate) arrows that display the same movement command. For example, the same ID "3" is given to the dashed arrows A1 and A2 that display the movement command "Move P3" with the ID "3". It can also be said that the teaching pendant 30 assigns the same ID as each ID assigned to each arrow in FIG. 5 to each movement command corresponding to each arrow in FIG. 5 in the two-dimensional flowchart in FIG.

FIG. 6 is a schematic diagram showing the procedure for creating a program. The teaching pendant 30 supports the creation of a program by an operator.

In "1. Initial state", the two-dimensional flowchart (2D flow) displays "Start" indicating the start of processing and "End" indicating the end of processing. An image 10A of the robot 10 is displayed on the three-dimensional flowchart (3D flow).

In "2. Add command", the operator uses a mouse to move the pointer 40 to the "Add movement command" icon 36 displayed on the display 31 and clicks (executes). As a result, the movement command "Move P1" is added to the two-dimensional flowchart. The target position P1 of the movement command is input by the operator according to a procedure described later. An arrow 51 indicating a movement command "Move P1" is added to the three-dimensional flowchart. The tip of the arrow 51 corresponds to the target position P1.

Here, the teaching pendant 30 (second processing unit) assigns the same ID to the movement command "Move P1" in the two-dimensional flowchart and the arrow 51 that displays the movement command "Move P1" in the three-dimensional flowchart. . Furthermore, as shown in FIGS. 4 and 5, when the movement commands "Move P1" and "Move P2" are executed after the "conditional branch", the arrow A1, which displays the same movement command "Move P3", A2 occurs. In that case, the same ID "3" is given to the movement command "Move P3" and the arrows A1 and A2 that display the same movement command "Move P3".

In "3. Add command", the operator uses a mouse to move the pointer 40 to the "Add movement command" icon 36 displayed on the display 31 and clicks it. As a result, the movement command "Move P2" is added to the two-dimensional flowchart. An arrow 52 indicating a movement command "Move P2" is added to the three-dimensional flowchart. The tip of the arrow 52 corresponds to the target position P2. The method of assigning IDs to movement commands and arrows is the same as in "2. Add command", but IDs different from the IDs assigned so far are assigned.

FIG. 7 is a schematic diagram showing editing of a movement command in a two-dimensional flowchart and reflection of the editing results on a three-dimensional flowchart.

The teaching pendant 30 (third processing unit) selectably displays each movement command in a two-dimensional flowchart. Here, the movement command "Move P2" is selected. Then, when any movement command is selected in the two-dimensional flowchart, the teaching pendant 30 (first processing unit) assigns the same ID as the ID given to the selected movement command in the three-dimensional flowchart. Display the selected arrow in a state indicating that it has been selected.

For example, the movement command "Move P2" is selected in the two-dimensional flowchart, and in the three-dimensional flowchart, the arrow 52 assigned the same ID as the selected movement command "Move P2" is It is displayed with a thicker arrow than the arrows 51 and 53. Further, when a movement command corresponding to a plurality of arrows is selected, all the plurality of arrows displaying the selected movement command are displayed in a state indicating that they have been selected. Note that the color of the arrow 52 may be different from the color of the other arrows 51 and 53.

The teaching pendant 30 (fourth processing unit) is configured such that when each movement command is edited in the two-dimensional flowchart, the same ID as that given to each edited movement command in the three-dimensional flowchart is assigned. Each arrow reflects the edited result of each movement command. For example, when the movement command “Move P2” is selected in the two-dimensional flowchart, the teaching pendant 30 (third processing unit) displays the window W1 on the display 31. The window W1 includes input fields for the coordinates X, Y, and Z of the target position P2 of the movement command "Move P2" and input fields for the angles RX, RY, and RZ. The operator changes (sets) the target position P2 by inputting numbers into these input fields, that is, edits the movement command "Move P2."

Then, when the operator changes the coordinates X, Y, Z and angles RX, RY, RZ of the target position P2, the teaching pendant 30 displays the movement command "Move P2" as shown in the three-dimensional flowchart. The tip position of the arrow 52 is changed. Along with this, the teaching pendant 30 changes the root position of the arrow 53, that is, the movement source position of the movement command "Move P3." Note that since the target position P3 of the movement command "Move P3" has not been changed, the tip position of the arrow 53 has not been changed.

FIG. 8 is a schematic diagram showing editing of arrows representing motion trajectories in a three-dimensional flowchart and reflection of the editing results on a two-dimensional flowchart.

The teaching pendant 30 (first processing unit) displays arrows 51 to 53 in a three-dimensional flowchart in a selectable and editable manner. Then, when one of the arrows displaying each movement command is selected, the teaching pendant 30 (third processing unit) generates a movement command to which the same ID as the ID given to the selected arrow is given. is displayed in a state indicating that it has been selected in the two-dimensional flowchart.

For example, the arrow 52 displaying the movement command "Move P2" is selected, and the movement command "Move P2" to which the same ID as the ID given to the selected arrow 52 is assigned is different from that in the two-dimensional flowchart. It is displayed surrounded by a frame that is thicker than the frame surrounding the command. Note that the color of the frame surrounding "Move P2" may be different from the color of the frames surrounding other commands.

Furthermore, when any of the arrows displaying each movement command is selected, the teaching pendant 30 displays all arrows assigned the same ID as the selected arrow. Display in a state that represents that. For example, in FIG. 5, when the arrow A1 displaying the movement command "Move P3" is selected, the same ID "3" as the ID "3" assigned to the selected arrow A1 is assigned. The selected arrow A2 is displayed in a state indicating that it has been selected.

When the arrow displaying each movement command is edited, the teaching pendant 30 (fourth processing unit) edits each movement command to which the same ID as the ID given to the edited arrow is given in the two-dimensional flowchart. , each arrow reflects the edited result. For example, the operator changes (sets) the target position P2 by dragging the tip of the arrow 52 in the three-dimensional flowchart to change its position, that is, edits the arrow 52 that displays the movement command "Move P2". . Along with this, the teaching pendant 30 changes the root position of the arrow 53, that is, the movement source position of the movement command "Move P3." Note that the position of the tip of the arrow 53 has not been changed.

Then, as shown in the three-dimensional flowchart, when the operator changes the tip position of the arrow 52, the teaching pendant 30 adjusts the coordinates X, Y, Z and angles RX, RY, RZ of the target position P2 in the window W1. Change numbers. That is, in the two-dimensional flowchart, the movement command "Move P2" corresponding to the arrow 52 is changed.

The present embodiment described in detail above has the following advantages.

- The teaching pendant 30 (first processing unit) displays each movement command using each arrow representing each movement trajectory from each movement source position to each target position of the robot 10. Therefore, the movement command "Move P3" after the arrow representing the motion trajectory branches due to the judgment command is displayed as a plurality of different arrows A1 and A2. In this regard, the teaching pendant 30 (second processing unit) assigns each ID to each arrow that displays each movement command, and assigns the same ID to a plurality of different arrows A1 and A2 that display the same movement command “Move P3”. Assign ID "3". For this reason, the teaching pendant 30 (robot program creation support device) uses the same movement command "Move P3" to display multiple different arrows A1 and A2 that display the same movement command "Move P3" based on the ID. It can be recognized that there is. Therefore, in the program creation support device, erroneous recognition of each movement command can be suppressed.

- In the left area 32 of the display 31, the teaching pendant 30 (third processing unit) displays commands including each movement command and judgment command in an editable two-dimensional flowchart. Therefore, the operator can create a program by editing instructions including each movement instruction and judgment instruction displayed in the two-dimensional flowchart. Furthermore, the teaching pendant 30 (first processing section) allows editing of each of the arrows 51 to 53 that display each movement command. Therefore, the operator can edit each of the arrows 51 to 53 that display each movement command and adjust each of the arrows 51 to 53.

- The teaching pendant 30 (second processing unit) assigns the same ID as each ID assigned to each arrow to each movement command corresponding to each arrow in the two-dimensional flowchart. Therefore, each arrow indicating each movement command and each movement command in the two-dimensional flowchart can be associated with each other by ID. Here, when each of the arrows 51 to 53 displaying each movement command is edited, the teaching pendant 30 (fourth processing unit) displays each of the arrows attached to each of the edited arrows 51 to 53 in the two-dimensional flowchart. The edited results of the arrows 51 to 53 are reflected in each movement command assigned the same ID as the ID. Therefore, the operator can edit each movement command associated by ID in the two-dimensional flowchart by editing each of the arrows 51 to 53 that display each movement command.

- Since the same ID "3" is given to multiple different arrows A1 and A2 that display the same movement command "Move P3", multiple different arrows A1 and A2 that display the same movement command "Move P3" Even if any of A2 is edited, the movement command associated with ID "3" can be edited.

- When each movement command is edited in the two-dimensional flowchart, the teaching pendant 30 (fourth processing unit) selects each arrow 51 to which is given the same ID as each ID given to each edited movement command. 53 reflects the edited results of each movement command. According to this configuration, the operator can edit each of the arrows 51 to 53 associated with each other by ID by editing each movement command in the two-dimensional flowchart.

・Since the same ID "3" is given to multiple different arrows A1 and A2 that display the same movement command "Move P3", if you edit each movement command in the two-dimensional flowchart, the ID "3" will be used. A plurality of different arrows A1 and A2 displaying the same associated movement command "Move P3" can be edited together.

- The teaching pendant 30 (third processing unit) displays each movement command in a two-dimensional flowchart in a selectable manner. Therefore, the operator can select the movement command that he or she wishes to edit in the two-dimensional flowchart. When the movement instruction "Move P2" is selected in the two-dimensional flowchart, the teaching pendant 30 (first processing unit) is assigned the same ID as the ID assigned to the selected movement instruction "Move P2". The arrow 52 is displayed in a state indicating that it has been selected. Therefore, when the operator selects the movement command "Move P2" in the two-dimensional flowchart, the operator can easily grasp the arrow 52 that displays the selected movement command "Move P2".

- The same ID "3" is given to a plurality of different arrows A1 and A2 that display the same movement command "Move P3". Therefore, when the movement command "Move P3" corresponding to multiple arrows A1 and A2 is selected, all of the multiple arrows A1 and A2 displaying the selected movement command "Move P3" are displayed to indicate that they have been selected. It can be displayed in the condition. Therefore, the worker can easily understand the correspondence between the movement command "Move P3" and the arrows A1 and A2.

- The teaching pendant 30 (first processing section) displays arrows 51 to 53 in a selectable manner. Therefore, the operator can select the arrows 51 to 53 that he or she wishes to edit. When the arrow 52 displaying the movement command "Move P2" is selected, the teaching pendant 30 (third processing unit) selects a movement command "Move P2" which is assigned the same ID as the selected arrow 52. "Move P2" is displayed in a state indicating that it has been selected in the two-dimensional flowchart. Therefore, when the operator selects the arrow 52 displaying the movement command "Move P2", the operator can easily understand the movement command "Move P2" corresponding to the selected arrow 52 in the two-dimensional flowchart.

- The same ID "3" is given to a plurality of different arrows A1 and A2 that display the same movement command "Move P3". Therefore, even if you select any of the different arrows A1 and A2 that display the same movement command "Move P3", the movement command "Move P3" associated with the selected arrow A1 and A2 with ID "3" will be displayed. ” can be displayed in a state indicating that it has been selected in the two-dimensional flowchart. Therefore, the operator can easily understand the correspondence between the arrows A1 and A2 and each movement command.

- When one of the arrows A1 and A2 displaying each movement command is selected, the teaching pendant 30 (first processing unit) uses an ID "3" that is the same as the one assigned to the selected arrow A1 or A2. All arrows A1 and A2 to which ID "3" has been assigned are displayed in a state indicating that they have been selected. According to this configuration, when one of a plurality of different arrows A1 and A2 displaying the same movement command "Move P3" is selected, the same ID "3" as the selected arrow A1 and A2 is assigned. All arrows A1 and A2 can be displayed in a state indicating that they have been selected. Therefore, the operator can easily grasp all the arrows A1 and A2 that display the same movement command "Move P3".

Note that the above embodiment can be modified and implemented as follows. The same parts as those in the above embodiment are given the same reference numerals and the description thereof will be omitted.

- For example, as shown in FIG. 5, there may be a case where the operator wants to make arrows A1 and A2 representing a plurality of different movement trajectories for moving to a common target position correspond to a plurality of different movement commands. In this regard, the teaching pendant 30 (second processing section) may be able to edit each ID assigned to each arrow (each motion trajectory). Thereby, the operator can change the correspondence between the arrow and the movement command by editing the ID assigned to the arrow.

- When one of the arrows A1 and A2 displaying each movement command is selected, the teaching pendant 30 (first processing unit) uses an ID "3" that is the same as the one assigned to the selected arrow A1 or A2. It is not necessary to display all the arrows A1 and A2 given the ID "3" in a state indicating that they have been selected.

- When one of the arrows 51 to 53 displaying each movement command is selected, the teaching pendant 30 (third processing unit) is assigned the same ID as the ID assigned to the selected arrow 52. The movement command "Move P2" does not have to be displayed in a state indicating that it has been selected in the two-dimensional flowchart. For example, when each of the arrows 51 to 53 displaying each movement command is edited, the teaching pendant 30 is assigned the same ID as each ID assigned to each of the edited arrows 51 to 53 in the two-dimensional flowchart. It is also possible to simply reflect the edited results of the arrows 51 to 53 in each movement command.

- When the movement instruction "Move P2" is selected in the two-dimensional flowchart, the teaching pendant 30 (first processing unit) is assigned the same ID as the ID assigned to the selected movement instruction "Move P2". The selected arrow 52 may not be displayed in a state indicating that it has been selected. For example, when each movement command is edited in the two-dimensional flowchart, the teaching pendant 30 assigns each movement command to each arrow 51 to 53 that is assigned the same ID as each edited movement command. It may be sufficient to simply reflect the result of editing the instruction.

- Each movement command may be displayed with a symbol other than an arrow. For example, each movement command may be displayed with a straight line representing the motion trajectory and a target position number.

- In the above embodiment, the teaching pendant 30 realizes a robot program creation support device. On the other hand, a robot program creation support device can also be realized using a PC (personal computer) and a monitor (display unit) connected to the controller 20.

- In a glasses-type display device that displays a virtual image superimposed on a real scene, arrows representing the movement trajectory of the robot 10, each target position, and a diamond J representing a judgment command are displayed at positions corresponding to the robot 10. You can also. Specifically, the robot program creation support device acquires the viewpoint position of the worker from the glasses-type display device, and determines the installation position and posture of the robot 10 from the controller 20, teaching pendant 30, or preset data. A virtual image is displayed so as to overlap the worker's field of view based on the worker's viewpoint position and the installation position and posture of the robot 10.

- The robot 10 is not limited to a vertically articulated robot, but may be a horizontally articulated robot or the like.

DESCRIPTION OF SYMBOLS 10...Robot, 20...Controller, 30...Teaching pendant (robot program creation support device), 31...Display (display part).

Claims (7)

A display section for displaying the motion trajectory of the robot at a position corresponding to the robot, and creating a program including each movement instruction for moving the robot and a branching instruction for branching the motion trajectory according to conditions. A support device that supports using a part,
a first processing unit that displays each movement command according to each movement trajectory from each movement source position to each target position of the robot;
Each of the movement trajectories displaying each of the movement commands is given each identification code and each of the identification codes is displayed , and after the movement trajectory is branched by the branching instruction, a movement command for moving to the same target position is displayed. a second processing unit that assigns the same identification code to the plurality of different motion trajectories;
A robot program creation support device equipped with: a third processing unit configured to editably display instructions including the movement instructions and the branch instructions in a predetermined display area of the display unit;
The first processing unit enables editing of each of the movement trajectories that display each of the movement commands,
In the flowchart, the second processing unit assigns the same identification code as each identification code assigned to each of the movement trajectories to each of the movement commands corresponding to each of the movement trajectories;
When each of the movement trajectories displaying each of the movement commands is edited, in the flowchart, each movement is given the same identification code as the identification code given to each of the edited movement trajectories. The robot program creation support device according to claim 1, further comprising a fourth processing unit that reflects a result of editing each of the motion trajectories in the command. The fourth processing unit is configured to, when each of the movement commands is edited in the flowchart, generate each of the movement trajectories to which the same identification code as the identification code given to each of the edited movement commands is given. 3. The robot program creation support device according to claim 2, wherein a result of editing each movement command is reflected in the robot program creation support device. The third processing unit selectably displays each of the movement commands in the flowchart,
When any of the movement commands is selected in the flowchart, the first processing unit determines the motion trajectory to which the same identification code as the identification code given to the selected movement command is given. The robot program creation support device according to claim 2 or 3, wherein the robot program creation support device is displayed in a state indicating that the robot has been selected. the first processing unit selectably displays each of the motion trajectories;
The third processing unit is configured to assign an identification code that is the same as the identification code given to the selected movement trajectory when any of the movement trajectories displaying the movement commands is selected. 5. The robot program creation support device according to claim 2, wherein the movement command is displayed in a state indicating that it has been selected in the flowchart. The first processing unit is configured to assign an identification code that is the same as the identification code given to the selected movement trajectory when any of the movement trajectories displaying the movement commands is selected. 6. The robot program creation support device according to claim 5, wherein all of the motion trajectories are displayed in a state indicating that they have been selected. 7. The robot program creation support device according to claim 1, wherein the second processing unit is capable of editing each of the identification codes given to each of the motion trajectories.

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